Why are many ros_control plugins putting all code in header files?
I stumbled across a proposal for standardization of cartesian_controllers and noticed a similarity to what I’ve already seen in joint_trajectory_controller. Namely, most of the code is in .hpp files instead of .cpp, which is as far as I was thought the standard way of doing the things.
Why is that? I couldn’t find any guideline in the wiki on writing a new controller with ros_control. Stackoverflow lists some Pros & Cons of putting all code in Header files in C++?, but they are mostly related to compiling, which should not be too important for ros_control (compared to run times).