effort_joint_interface_provider.h
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27 
29 
30 #ifndef TRANSMISSION_INTERFACE_EFFORT_JOINT_INTERFACE_PROVIDER_H
31 #define TRANSMISSION_INTERFACE_EFFORT_JOINT_INTERFACE_PROVIDER_H
32 
33 // ros_control
37 
38 namespace transmission_interface
39 {
40 
42 {
43 public:
44  bool updateJointInterfaces(const TransmissionInfo& transmission_info,
46  JointInterfaces& joint_interfaces,
47  RawJointDataMap& raw_joint_data_map);
48 
49 protected:
50 
51  bool getJointCommandData(const TransmissionInfo& transmission_info,
52  const RawJointDataMap& raw_joint_data_map,
53  JointData& jnt_cmd_data);
54 
55  bool getActuatorCommandData(const TransmissionInfo& transmission_info,
57  ActuatorData& act_cmd_data);
58 
60  TransmissionHandleData& handle_data);
61 };
62 
63 } // namespace
64 
65 #endif // header guard
Contains pointers to raw data representing the position, velocity and acceleration of a transmission'...
Definition: transmission.h:61
bool updateJointInterfaces(const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map)
Update a robot's joint interfaces with joint information contained in a transmission.
Contains semantic info about a given transmission loaded from XML (URDF)
bool registerTransmission(TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data)
bool getJointCommandData(const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_cmd_data)
Joint interfaces of a robot. Only used interfaces need to be populated.
Structs to hold tranmission data loaded straight from XML (URDF).
bool getActuatorCommandData(const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_cmd_data)
Contains pointers to raw data representing the position, velocity and acceleration of a transmission'...
Definition: transmission.h:50
std::map< std::string, RawJointData > RawJointDataMap


transmission_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Jun 7 2019 22:00:17