/
joint_position_controller.h
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/
joint_position_controller.h
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2012, hiDOF, Inc.
* Copyright (c) 2013, PAL Robotics, S.L.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef POSITION_CONTROLLERS_JOINT_POSITION_CONTROLLER_H
#define POSITION_CONTROLLERS_JOINT_POSITION_CONTROLLER_H
#include <forward_command_controller/forward_command_controller.h>
namespace position_controllers
{
/**
* \brief Joint Position Controller (linear or angular)
*
* This class passes the commanded position down to the joint
*
* \section ROS interface
*
* \param type Must be "JointPositionController".
* \param joint Name of the joint to control.
*
* Subscribes to:
* - \b command (std_msgs::Float64) : The joint position to apply
*/
typedef forward_command_controller::ForwardCommandController<hardware_interface::PositionJointInterface>
JointPositionController;
}
#endif