joint_effort_controller.h
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34 
35 #ifndef JOINT_EFFORT_CONTROLLER_H
36 #define JOINT_EFFORT_CONTROLLER_H
37 
54 #include <boost/thread/condition.hpp>
55 #include <ros/node_handle.h>
57 
58 #include <std_msgs/Float64.h>
59 
60 
61 namespace controller
62 {
63 
65 {
66 public:
67 
70 
71  bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name);
72  virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
73 
74  virtual void starting() { command_ = 0.0;}
75  virtual void update();
76 
78 
79  double command_;
80 
81 private:
83 
86  void commandCB(const std_msgs::Float64ConstPtr& msg);
87 
88 };
89 
90 }
91 
92 #endif
void commandCB(const std_msgs::Float64ConstPtr &msg)
pr2_mechanism_model::RobotState * robot_
pr2_mechanism_model::JointState * joint_state_
bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name)


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Wed Jun 5 2019 19:34:03