model_example_controller.h

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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <memory>
#include <string>
 
#include <controller_interface/multi_interface_controller.h>
#include <hardware_interface/robot_hw.h>
#include <ros/node_handle.h>
#include <ros/time.h>
 
#include <franka_hw/franka_model_interface.h>
#include <franka_hw/franka_state_interface.h>
#include <franka_hw/trigger_rate.h>
 
namespace franka_example_controllers {
 
class ModelExampleController
    : public controller_interface::MultiInterfaceController<franka_hw::FrankaModelInterface,
                                                            franka_hw::FrankaStateInterface> {
 public:
  bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& node_handle) override;
  void update(const ros::Time&, const ros::Duration&) override;
 
 private:
  franka_hw::FrankaStateInterface* franka_state_interface_;
  std::unique_ptr<franka_hw::FrankaStateHandle> franka_state_handle_;
  franka_hw::FrankaModelInterface* model_interface_;
  std::unique_ptr<franka_hw::FrankaModelHandle> model_handle_;
  franka_hw::TriggerRate rate_trigger_{1.0};
};
 
}  // namespace franka_example_controllers