moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_plugins
moveit_ros_control_interface
include
moveit_ros_control_interface
ControllerHandle.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2015, Fraunhofer IPA
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Fraunhofer IPA nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Mathias Lüdtke */
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#pragma once
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#include <
moveit/controller_manager/controller_manager.h
>
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#include <
moveit/macros/class_forward.h
>
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namespace
moveit_ros_control_interface
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{
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MOVEIT_CLASS_FORWARD
(
ControllerHandleAllocator
);
// Defines ControllerHandleAllocatorPtr, ConstPtr, WeakPtr... etc
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class
ControllerHandleAllocator
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{
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public
:
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virtual
moveit_controller_manager::MoveItControllerHandlePtr
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alloc
(
const
rclcpp::Node::SharedPtr& node,
const
std::string& name,
const
std::vector<std::string>& resources) = 0;
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virtual
~ControllerHandleAllocator
()
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{
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}
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};
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}
// namespace moveit_ros_control_interface
class_forward.h
MOVEIT_CLASS_FORWARD
#define MOVEIT_CLASS_FORWARD(C)
Definition
class_forward.h:46
moveit_ros_control_interface::ControllerHandleAllocator
Definition
ControllerHandle.h:50
moveit_ros_control_interface::ControllerHandleAllocator::~ControllerHandleAllocator
virtual ~ControllerHandleAllocator()
Definition
ControllerHandle.h:54
moveit_ros_control_interface::ControllerHandleAllocator::alloc
virtual moveit_controller_manager::MoveItControllerHandlePtr alloc(const rclcpp::Node::SharedPtr &node, const std::string &name, const std::vector< std::string > &resources)=0
controller_manager.h
moveit_ros_control_interface
Definition
ControllerHandle.h:43
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