block6.cpp

#ifndef ROS_CONTROL__ROBOT_HARDWARE_H
#define ROS_CONTROL__ROBOT_HARDWARE_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.h>
#include <joint_limits_interface/joint_limits_interface.h>
#include <joint_limits_interface/joint_limits_rosparam.h>
#include <joint_limits_interface/joint_limits_urdf.h>
#include <controller_manager/controller_manager.h>
#include <boost/scoped_ptr.hpp>
#include <ros/ros.h>

namespace ROBOT_hardware_interface
{
	/// \brief Hardware interface for a robot
	class ROBOTHardware : public hardware_interface::RobotHW 
	{
		protected:
			// Interfaces
			hardware_interface::JointStateInterface joint_state_interface_;
			hardware_interface::PositionJointInterface position_joint_interface_;
			hardware_interface::VelocityJointInterface velocity_joint_interface_;
			hardware_interface::EffortJointInterface effort_joint_interface_;

			joint_limits_interface::EffortJointSaturationInterface effort_joint_saturation_interface_;
			joint_limits_interface::EffortJointSoftLimitsInterface effort_joint_limits_interface_;
			joint_limits_interface::PositionJointSaturationInterface position_joint_saturation_interface_;
			joint_limits_interface::PositionJointSoftLimitsInterface position_joint_limits_interface_;
			joint_limits_interface::VelocityJointSaturationInterface velocity_joint_saturation_interface_;
			joint_limits_interface::VelocityJointSoftLimitsInterface velocity_joint_limits_interface_;

			// Custom or available transmissions
			// transmission_interface::RRBOTTransmission rrbot_trans_;
			// std::vector<transmission_interface::SimpleTransmission> simple_trans_;

			// Shared memory
			int num_joints_;
			int joint_mode_; // position, velocity, or effort
			std::vector<std::string> joint_names_;
			std::vector<int> joint_types_;
			std::vector<double> joint_position_;
			std::vector<double> joint_velocity_;
			std::vector<double> joint_effort_;
			std::vector<double> joint_position_command_;
			std::vector<double> joint_velocity_command_;
			std::vector<double> joint_effort_command_;
			std::vector<double> joint_lower_limits_;
			std::vector<double> joint_upper_limits_;
			std::vector<double> joint_effort_limits_;

	}; // class

} // namespace

#endif