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![]() | 1 | initial version |
------------- my_controller_file.h ------------------
namespace my_controller_ns{
class MyControllerClass: public pr2_controller_interface::Controller { private: pr2_mechanism_model::JointState* wheel1_state; pr2_mechanism_model::JointState* wheel2_state; //double init_pos_; double init_pos_1; double init_pos_2; double position_1; double position_2;
public: virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n); virtual void starting(); virtual void update(); virtual void stopping(); }; }
![]() | 2 | No.2 Revision |
------------- my_controller_file.h ------------------
namespace my_controller_ns{
class MyControllerClass: public pr2_controller_interface::Controller
{
private:
{
private:
pr2_mechanism_model::JointState* wheel1_state;
wheel1_state;
pr2_mechanism_model::JointState* wheel2_state;
wheel2_state;
//double init_pos_;
public:
public:
virtual bool init(pr2_mechanism_model::RobotState *robot,
ros::NodeHandle &n);
*robot,ros::NodeHandle &n);
virtual void starting();
starting();
virtual void update();
update();
virtual void stopping(); }; }
![]() | 3 | No.3 Revision |
------------- my_controller_file.h ------------------
namespace my_controller_ns{
class MyControllerClass: public pr2_controller_interface::Controller {
private:
pr2_mechanism_model::JointState* wheel1_state;
pr2_mechanism_model::JointState* wheel2_state;
//double init_pos_;
double init_pos_1;
double init_pos_2;
double position_1;
double position_2;
public:
virtual bool init(pr2_mechanism_model::RobotState *robot,ros::NodeHandle &n);
virtual void starting();
virtual void update();
virtual void stopping();
};
stopping();
};
}