effort_test_controller.h
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 #ifndef CONTROLLER_MANAGER_TESTS_EFFORT_TEST_CONTROLLER_H
00029 #define CONTROLLER_MANAGER_TESTS_EFFORT_TEST_CONTROLLER_H
00030 
00031 
00032 #include <controller_interface/controller.h>
00033 #include <hardware_interface/joint_command_interface.h>
00034 #include <pluginlib/class_list_macros.h>
00035 
00036 
00037 namespace controller_manager_tests
00038 {
00039 
00040 
00041 class EffortTestController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
00042 {
00043 public:
00044   EffortTestController(){}
00045 
00046   using controller_interface::Controller<hardware_interface::EffortJointInterface>::init;
00047   bool init(hardware_interface::EffortJointInterface* hw, ros::NodeHandle& /*n*/);
00048   void starting(const ros::Time& /*time*/);
00049   void update(const ros::Time& /*time*/, const ros::Duration& /*period*/);
00050   void stopping(const ros::Time& /*time*/);
00051 
00052 private:
00053   std::vector<hardware_interface::JointHandle> joint_effort_commands_;
00054 
00055 };
00056 
00057 }
00058 
00059 #endif


controller_manager_tests
Author(s): Vijay Pradeep
autogenerated on Sat Jun 8 2019 20:09:25