Common base class for lwr_controllers (WIP)

CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.

The Unlicense

101 stars 81 forks source link

Common base class for lwr_controllers (WIP) #28

Closed marcoesposito1988 closed 9 years ago

marcoesposito1988 commented 9 years ago

This changes contain a KinematicChainControllerBase class with the URDF parsing code that is common to all init() methods of the lwr_controllers.

Furthermore, a subclass PIDKinematicChainControllerBase class is created for holding the common PID creation, parsing from YAML and dynamic_reconfigure support.

The class is in the controller_interface namespace and adheres to its code conventions so that a later merging to ros_controllers is later easier.

carlosjoserg commented 9 years ago

@marcoesposito1988 this looks great!

I think I saw a couple of minor stuff, I'll write it inline.

Nice commit message here 21c248db4375c1da4ff62a161a040ac2fee1cf3f

I'll start using PRs from now on, so everyone can comment as well.