controller_interface.hpp

// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// 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 CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_
#define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_
 
#include <memory>
#include <vector>
 
#include "controller_interface/controller_interface_base.hpp"
#include "controller_interface/visibility_control.h"
#include "hardware_interface/handle.hpp"
 
namespace controller_interface
{
class ControllerInterface : public controller_interface::ControllerInterfaceBase
{
public:
  CONTROLLER_INTERFACE_PUBLIC
  ControllerInterface();
 
  CONTROLLER_INTERFACE_PUBLIC
  virtual ~ControllerInterface() = default;
 
  CONTROLLER_INTERFACE_PUBLIC
  bool is_chainable() const final;
 
  CONTROLLER_INTERFACE_PUBLIC
  std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final;
 
  CONTROLLER_INTERFACE_PUBLIC
  std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final;
 
  CONTROLLER_INTERFACE_PUBLIC
  bool set_chained_mode(bool chained_mode) final;
 
  CONTROLLER_INTERFACE_PUBLIC
  bool is_in_chained_mode() const final;
};
 
using ControllerInterfaceSharedPtr = std::shared_ptr<ControllerInterface>;
 
}  // namespace controller_interface
 
#endif  // CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_