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Published 20 hours ago • verified publisher icon ros-controls

Base class for ForwardJointGroupCommandController

Open mathias-luedtke opened this issue 10 years ago • 2 comments

As discussed in #184 this patch introduces a base class for ForwardJointGroupCommandController that allows subclassing for various ROS interface types.

  • added virtual specifiers to outline the (implicitly) virtual member functions
  • all base class data members are protected (instead of public)

I had to move the starting function definitions into the header, but migrated them to template specializations. If needed the implementation could be moved into a library.

mathias-luedtke avatar Aug 18 '15 11:08 mathias-luedtke

Overall, a big +1 in favor of this addition. The ForwardJointGroupCommandControllerBase increases our flexibility in creating new forward group controllers.

rethink-imcmahon avatar Aug 18 '15 13:08 rethink-imcmahon

Apologies for the enormous delay on this one. @ipa-mdl I've retargeted the MR to melodic, could you please push a dummy commit trigger a new build setup on travis? I'm afraid restarting it will only get us more of the indigo pipeline.

bmagyar avatar Mar 16 '19 11:03 bmagyar