Public Member Functions
HardwareInterfaceAdapter< HardwareInterface > Class Template Reference

Helper class to simplify integrating the GripperActionController with different hardware interfaces. More...

#include <hardware_interface_adapter.h>

List of all members.

Public Member Functions

bool init (hardware_interface::JointHandle &joint_handle, ros::NodeHandle &controller_nh)
void starting (const ros::Time &time)
void stopping (const ros::Time &time)
double updateCommand (const ros::Time &time, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)

Detailed Description

template<class HardwareInterface>
class HardwareInterfaceAdapter< HardwareInterface >

Helper class to simplify integrating the GripperActionController with different hardware interfaces.

Author:
Sachin Chitta, Adolfo Rodriguez Tsouroukdissian The GripperActionController outputs position while it is supposed to work with either position or effort commands.

Definition at line 54 of file hardware_interface_adapter.h.


Member Function Documentation

template<class HardwareInterface >
bool HardwareInterfaceAdapter< HardwareInterface >::init ( hardware_interface::JointHandle joint_handle,
ros::NodeHandle controller_nh 
) [inline]

Definition at line 57 of file hardware_interface_adapter.h.

template<class HardwareInterface >
void HardwareInterfaceAdapter< HardwareInterface >::starting ( const ros::Time time) [inline]

Definition at line 62 of file hardware_interface_adapter.h.

template<class HardwareInterface >
void HardwareInterfaceAdapter< HardwareInterface >::stopping ( const ros::Time time) [inline]

Definition at line 63 of file hardware_interface_adapter.h.

template<class HardwareInterface >
double HardwareInterfaceAdapter< HardwareInterface >::updateCommand ( const ros::Time time,
const ros::Duration period,
double  desired_position,
double  desired_velocity,
double  error_position,
double  error_velocity,
double  max_allowed_effort 
) [inline]

Definition at line 65 of file hardware_interface_adapter.h.


The documentation for this class was generated from the following file:


gripper_action_controller
Author(s): Sachin Chitta
autogenerated on Thu Jun 6 2019 18:58:57