block7.cpp

#ifndef ROS_CONTROL__ROBOT_HARDWARE_INTERFACE_H
#define ROS_CONTROL__ROBOT_HARDWARE_INTERFACE_H

#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/robot_hw.h>
#include <joint_limits_interface/joint_limits_interface.h>
#include <joint_limits_interface/joint_limits.h>
#include <joint_limits_interface/joint_limits_urdf.h>
#include <joint_limits_interface/joint_limits_rosparam.h>
#include <controller_manager/controller_manager.h>
#include <boost/scoped_ptr.hpp>
#include <ros/ros.h>
#include <ROBOTcpp/ROBOT.h>
#include <ROBOT_hardware_interface/ROBOT_hardware.h>

using namespace hardware_interface;
using joint_limits_interface::JointLimits;
using joint_limits_interface::SoftJointLimits;
using joint_limits_interface::PositionJointSoftLimitsHandle;
using joint_limits_interface::PositionJointSoftLimitsInterface;


namespace ROBOT_hardware_interface
{
	static const double POSITION_STEP_FACTOR = 10;
	static const double VELOCITY_STEP_FACTOR = 10;

	class ROBOTHardwareInterface: public ROBOT_hardware_interface::ROBOTHardware
	{
		public:
			ROBOTHardwareInterface(ros::NodeHandle& nh);
			~ROBOTHardwareInterface();
			void init();
			void update(const ros::TimerEvent& e);
			void read();
			void write(ros::Duration elapsed_time);

		protected:
			ROBOTcpp::ROBOT ROBOT;
			ros::NodeHandle nh_;
			ros::Timer non_realtime_loop_;
			ros::Duration control_period_;
			ros::Duration elapsed_time_;
			PositionJointInterface positionJointInterface;
			PositionJointSoftLimitsInterface positionJointSoftLimitsInterface;
			double loop_hz_;
			boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;
			double p_error_, v_error_, e_error_;
	};

}

#endif