cartesian_trajectory_controller.cpp

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2021 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
 
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
 
#include <pluginlib/class_list_macros.h>
#include <cartesian_trajectory_controller/cartesian_trajectory_controller.h>
#include <cartesian_interface/cartesian_command_interface.h>
#include <hardware_interface/joint_command_interface.h>
#include "hardware_interface/joint_state_interface.h"
 
namespace pose_controllers
{
using CartesianTrajectoryController =
    cartesian_trajectory_controller::CartesianTrajectoryController<ros_controllers_cartesian::PoseCommandInterface>;
}
 
namespace twist_controllers
{
using CartesianTrajectoryController =
    cartesian_trajectory_controller::CartesianTrajectoryController<ros_controllers_cartesian::TwistCommandInterface>;
}
 
namespace position_controllers
{
using CartesianTrajectoryController =
    cartesian_trajectory_controller::CartesianTrajectoryController<hardware_interface::PositionJointInterface>;
}
 
namespace velocity_controllers
{
using CartesianTrajectoryController =
    cartesian_trajectory_controller::CartesianTrajectoryController<hardware_interface::VelocityJointInterface>;
}
 
namespace cartesian_trajectory_publisher
{
using CartesianTrajectoryPublisher =
    cartesian_trajectory_controller::CartesianTrajectoryController<hardware_interface::JointStateInterface>;
}
 
PLUGINLIB_EXPORT_CLASS(pose_controllers::CartesianTrajectoryController, controller_interface::ControllerBase)
 
/* Not yet implemented.
PLUGINLIB_EXPORT_CLASS(twist_controllers::CartesianTrajectoryController,
                       controller_interface::ControllerBase)
*/
 
PLUGINLIB_EXPORT_CLASS(position_controllers::CartesianTrajectoryController, controller_interface::ControllerBase)
/* Not yet implemented
PLUGINLIB_EXPORT_CLASS(velocity_controllers::CartesianTrajectoryController,
                       controller_interface::ControllerBase)
*/
 
PLUGINLIB_EXPORT_CLASS(cartesian_trajectory_publisher::CartesianTrajectoryPublisher,
                       controller_interface::ControllerBase)