joint_group_velocity_controller.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  Copyright (c) 2012, hiDOF, Inc.
00006  *  Copyright (c) 2013, PAL Robotics, S.L.
00007  *  Copyright (c) 2014, Fraunhofer IPA
00008  *  All rights reserved.
00009  *
00010  *  Redistribution and use in source and binary forms, with or without
00011  *  modification, are permitted provided that the following conditions
00012  *  are met:
00013  *
00014  *   * Redistributions of source code must retain the above copyright
00015  *     notice, this list of conditions and the following disclaimer.
00016  *   * Redistributions in binary form must reproduce the above
00017  *     copyright notice, this list of conditions and the following
00018  *     disclaimer in the documentation and/or other materials provided
00019  *     with the distribution.
00020  *   * Neither the name of the Willow Garage nor the names of its
00021  *     contributors may be used to endorse or promote products derived
00022  *     from this software without specific prior written permission.
00023  *
00024  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  *  POSSIBILITY OF SUCH DAMAGE.
00036  *********************************************************************/
00037 
00038 #include <velocity_controllers/joint_group_velocity_controller.h>
00039 #include <pluginlib/class_list_macros.h>
00040 
00041 template <class T>
00042 void forward_command_controller::ForwardJointGroupCommandController<T>::starting(const ros::Time& time)
00043 {
00044   // Start controller with 0.0 velocities
00045   commands_buffer_.readFromRT()->assign(n_joints_, 0.0);
00046 }
00047 
00048 
00049 PLUGINLIB_EXPORT_CLASS(velocity_controllers::JointGroupVelocityController,controller_interface::ControllerBase)


velocity_controllers
Author(s): Vijay Pradeep
autogenerated on Thu Jun 6 2019 18:59:06