------------- my_controller_file.h ------------------

include <pr2_controller_interface controller.h="">

include <pr2_mechanism_model joint.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(); }; }

------------- my_controller_file.h ------------------

include <pr2_controller_interface controller.h="">

include <pr2_mechanism_model joint.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_;

------------- my_controller_file.h ------------------

include <pr2_controller_interface controller.h="">

include <pr2_mechanism_model joint.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();

};

}