ros2_control - foxy
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joint_group_effort_controller.hpp
1// Copyright 2020 PAL Robotics S.L.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_
16#define EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_
17
18#include <string>
19
20#include "effort_controllers/visibility_control.h"
21#include "forward_command_controller/forward_command_controller.hpp"
22
23namespace effort_controllers
24{
36{
37public:
38 EFFORT_CONTROLLERS_PUBLIC
40
41 EFFORT_CONTROLLERS_PUBLIC
42 controller_interface::return_type init(const std::string & controller_name) override;
43
44 EFFORT_CONTROLLERS_PUBLIC
45 CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
46};
47
48} // namespace effort_controllers
49
50#endif // EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_
Forward command controller for a set of effort controlled joints (linear or angular).
Definition joint_group_effort_controller.hpp:36
Forward command controller for a set of joints.
Definition forward_command_controller.hpp:48