From 01120832a675e2750c1a41798e41f34916cdc1d5 Mon Sep 17 00:00:00 2001 From: Sai Kishor Kothakota Date: Sat, 4 May 2024 16:18:37 +0200 Subject: [PATCH] Add more common hardware interface type constants (#1500) --- .../types/hardware_interface_type_values.hpp | 22 +++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp index 27b5207a0f..f6f6e052e3 100644 --- a/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp +++ b/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp @@ -25,6 +25,28 @@ constexpr char HW_IF_VELOCITY[] = "velocity"; constexpr char HW_IF_ACCELERATION[] = "acceleration"; /// Constant defining effort interface name constexpr char HW_IF_EFFORT[] = "effort"; +/// Constant defining torque interface name +constexpr char HW_IF_TORQUE[] = "torque"; +/// Constant defining force interface name +constexpr char HW_IF_FORCE[] = "force"; +/// Constant defining current interface name +constexpr char HW_IF_CURRENT[] = "current"; +/// Constant defining temperature interface name +constexpr char HW_IF_TEMPERATURE[] = "temperature"; + +/// Gains interface constants +/// Constant defining proportional gain interface name +constexpr char HW_IF_PROPORTIONAL_GAIN[] = "proportional"; +/// Constant defining integral gain interface name +constexpr char HW_IF_INTEGRAL_GAIN[] = "integral"; +/// Constant defining derivative gain interface name +constexpr char HW_IF_DERIVATIVE_GAIN[] = "derivative"; +/// Constant defining integral clamp interface name +constexpr char HW_IF_INTEGRAL_CLAMP_MAX[] = "integral_clamp_max"; +/// Constant defining integral clamp interface name +constexpr char HW_IF_INTEGRAL_CLAMP_MIN[] = "integral_clamp_min"; +/// Constant defining the feedforward interface name +constexpr char HW_IF_FEEDFORWARD[] = "feedforward"; } // namespace hardware_interface #endif // HARDWARE_INTERFACE__TYPES__HARDWARE_INTERFACE_TYPE_VALUES_HPP_