joint_group_velocity_controller.hpp

// Copyright 2020 PAL Robotics S.L.
//
// 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.
 
#ifndef VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_
#define VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_
 
#include <string>
 
#include "forward_command_controller/forward_command_controller.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "velocity_controllers/visibility_control.h"
 
namespace velocity_controllers
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
class JointGroupVelocityController : public forward_command_controller::ForwardCommandController
{
public:
  VELOCITY_CONTROLLERS_PUBLIC
  JointGroupVelocityController();
 
  VELOCITY_CONTROLLERS_PUBLIC CallbackReturn on_init() override;
 
  VELOCITY_CONTROLLERS_PUBLIC
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
};
 
}  // namespace velocity_controllers
 
#endif  // VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_