58 lines
1.8 KiB
C
58 lines
1.8 KiB
C
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//
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// Created by tlab-uav on 24-9-24.
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//
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#ifndef OCS2QUADRUPEDCONTROLLER_H
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#define OCS2QUADRUPEDCONTROLLER_H
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#include <controller_interface/controller_interface.hpp>
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class Ocs2QuadrupedController final : public controller_interface::ControllerInterface {
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public:
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CONTROLLER_INTERFACE_PUBLIC
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Ocs2QuadrupedController() = default;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration command_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::InterfaceConfiguration state_interface_configuration() const override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::return_type update(
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const rclcpp::Time &time, const rclcpp::Duration &period) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_init() override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_configure(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_activate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_deactivate(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_cleanup(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_shutdown(
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const rclcpp_lifecycle::State &previous_state) override;
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CONTROLLER_INTERFACE_PUBLIC
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controller_interface::CallbackReturn on_error(
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const rclcpp_lifecycle::State &previous_state) override;
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};
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#endif //OCS2QUADRUPEDCONTROLLER_H
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