ros2_control - rolling
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multi_interface_forward_command_controller.hpp
1// Copyright 2021 Stogl Robotics Consulting UG (haftungsbescrhänkt)
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 FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
16#define FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
17
18#include <memory>
19
20#include "forward_command_controller/forward_controllers_base.hpp"
21#include "forward_command_controller/multi_interface_forward_command_controller_parameters.hpp"
22
23namespace forward_command_controller
24{
38{
39public:
41
42protected:
43 void declare_parameters() override;
44 controller_interface::CallbackReturn read_parameters() override;
45
46 using Params = multi_interface_forward_command_controller::Params;
47 using ParamListener = multi_interface_forward_command_controller::ParamListener;
48
49 std::shared_ptr<ParamListener> param_listener_;
50 Params params_;
51};
52
53} // namespace forward_command_controller
54
55#endif // FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
Forward command controller for a set of joints and interfaces.
Definition forward_controllers_base.hpp:41
Multi interface forward command controller for a set of interfaces.
Definition multi_interface_forward_command_controller.hpp:38
controller_interface::CallbackReturn read_parameters() override
Definition multi_interface_forward_command_controller.cpp:33
void declare_parameters() override
Definition multi_interface_forward_command_controller.cpp:28