multi_interface_forward_command_controller.hpp

// Copyright 2021 Stogl Robotics Consulting UG (haftungsbescrhänkt)
//
// 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 FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
#define FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
 
#include <memory>
 
#include "forward_command_controller/forward_controllers_base.hpp"
#include "forward_command_controller/visibility_control.h"
#include "multi_interface_forward_command_controller_parameters.hpp"
 
namespace forward_command_controller
{
class MultiInterfaceForwardCommandController
: public forward_command_controller::ForwardControllersBase
{
public:
  FORWARD_COMMAND_CONTROLLER_PUBLIC
  MultiInterfaceForwardCommandController();
 
protected:
  void declare_parameters() override;
  controller_interface::CallbackReturn read_parameters() override;
 
  using Params = multi_interface_forward_command_controller::Params;
  using ParamListener = multi_interface_forward_command_controller::ParamListener;
 
  std::shared_ptr<ParamListener> param_listener_;
  Params params_;
};
 
}  // namespace forward_command_controller
 
#endif  // FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_