scaled_mimic.h
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00034 
00035 // Author: Michael Ferguson
00036 
00037 #ifndef ROBOT_CONTROLLERS_SCALED_MIMIC_H
00038 #define ROBOT_CONTROLLERS_SCALED_MIMIC_H
00039 
00040 #include <string>
00041 #include <vector>
00042 
00043 #include <ros/ros.h>
00044 #include <robot_controllers_interface/controller.h>
00045 #include <robot_controllers_interface/joint_handle.h>
00046 #include <robot_controllers_interface/controller_manager.h>
00047 #include <control_msgs/GripperCommandAction.h>
00048 #include <actionlib/server/simple_action_server.h>
00049 
00050 namespace robot_controllers
00051 {
00052 
00058 class ScaledMimicController : public Controller
00059 {
00060   typedef actionlib::SimpleActionServer<control_msgs::GripperCommandAction> server_t;
00061 
00062 public:
00063   ScaledMimicController() : initialized_(false) {}
00064   virtual ~ScaledMimicController() {}
00065 
00073   virtual int init(ros::NodeHandle& nh, ControllerManager* manager);
00074 
00080   virtual bool start();
00081 
00089   virtual bool stop(bool force);
00090 
00097   virtual bool reset();
00098 
00104   virtual void update(const ros::Time& now, const ros::Duration& dt);
00105 
00107   virtual std::string getType()
00108   {
00109     return "robot_controllers/ScaledMimicController";
00110   }
00111 
00113   virtual std::vector<std::string> getCommandedNames();
00114 
00116   virtual std::vector<std::string> getClaimedNames();
00117 
00118 private:
00119   bool initialized_;
00120   JointHandlePtr joint_to_mimic_;
00121   JointHandlePtr joint_to_control_;
00122   double scale_;
00123 };
00124 
00125 }  // namespace robot_controllers
00126 
00127 #endif  // ROBOT_CONTROLLERS_SCALED_MIMIC_H


robot_controllers
Author(s): Michael Ferguson
autogenerated on Wed Jun 14 2017 04:09:10