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joint_trajectory_controller.cpp
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// Copyright (C) 2013, PAL Robotics S.L.
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// Copyright (c) 2008, Willow Garage, Inc.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of PAL Robotics S.L. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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// Pluginlib
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#include <
pluginlib/class_list_macros.hpp
>
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// Project
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#include <
trajectory_interface/quintic_spline_segment.h
>
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#include "
gundam_rx78_control/joint_trajectory_controller.h
"
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namespace
position_controllers
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{
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typedef
joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>
,
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hardware_interface::PositionJointInterface
>
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JointTrajectoryController
;
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}
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namespace
velocity_controllers
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{
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typedef
joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>
,
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hardware_interface::VelocityJointInterface
>
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JointTrajectoryController
;
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}
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namespace
effort_controllers
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{
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typedef
joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>
,
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hardware_interface::EffortJointInterface
>
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JointTrajectoryController
;
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}
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namespace
pos_vel_controllers
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{
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typedef
joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>
,
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hardware_interface::PosVelJointInterface
>
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JointTrajectoryController
;
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}
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namespace
pos_vel_acc_controllers
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{
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typedef
joint_trajectory_controller::JointTrajectoryController<trajectory_interface::QuinticSplineSegment<double>
,
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hardware_interface::PosVelAccJointInterface
>
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JointTrajectoryController
;
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}
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PLUGINLIB_EXPORT_CLASS
(
position_controllers::JointTrajectoryController
,
controller_interface::ControllerBase
)
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PLUGINLIB_EXPORT_CLASS(
velocity_controllers
::
JointTrajectoryController
,
controller_interface
::ControllerBase)
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PLUGINLIB_EXPORT_CLASS(
effort_controllers
::JointTrajectoryController,
controller_interface
::ControllerBase)
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PLUGINLIB_EXPORT_CLASS(
pos_vel_controllers
::JointTrajectoryController,
controller_interface
::ControllerBase)
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PLUGINLIB_EXPORT_CLASS(
pos_vel_acc_controllers
::JointTrajectoryController,
controller_interface
::ControllerBase)
hardware_interface::EffortJointInterface
controller_interface
joint_trajectory_controller.h
joint_trajectory_controller::JointTrajectoryController
Controller for executing joint-space trajectories on a group of joints.
Definition:
joint_trajectory_controller.h:127
velocity_controllers
PLUGINLIB_EXPORT_CLASS
PLUGINLIB_EXPORT_CLASS(diff_drive_controller::DiffDriveController, controller_interface::ControllerBase)
pos_vel_acc_controllers
class_list_macros.hpp
controller_interface::ControllerBase
hardware_interface::VelocityJointInterface
hardware_interface::PosVelAccJointInterface
hardware_interface::PosVelJointInterface
position_controllers
effort_controllers
position_controllers::JointTrajectoryController
joint_trajectory_controller::JointTrajectoryController< trajectory_interface::QuinticSplineSegment< double >, hardware_interface::PositionJointInterface > JointTrajectoryController
pos_vel_controllers
hardware_interface::PositionJointInterface
quintic_spline_segment.h
gundam_rx78_control
Author(s): Kei Okada
, Naoki Hiraoka
autogenerated on Wed Sep 2 2020 03:33:33