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[Controller Interface] Make assign and release interfaces virtual #1743

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merged 3 commits into from
Sep 11, 2024
Merged

[Controller Interface] Make assign and release interfaces virtual #1743

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[Controller Interface] Make assign and release interfaces virtual
saikishor Sep 2, 2024
f38fbcb
Add some documentation and notes on the possible use case overriding …
saikishor Sep 11, 2024
a288f57
Merge branch 'master' into make/assign_and_release_interfaces/virtual
saikishor Sep 11, 2024
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4 changes: 2 additions & 2 deletions controller_interface/include/controller_interface/controller_interface_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,12 +105,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
virtual InterfaceConfiguration state_interface_configuration() const = 0;

CONTROLLER_INTERFACE_PUBLIC
void assign_interfaces(
virtual void assign_interfaces(
std::vector<hardware_interface::LoanedCommandInterface> && command_interfaces,
std::vector<hardware_interface::LoanedStateInterface> && state_interfaces);

CONTROLLER_INTERFACE_PUBLIC
void release_interfaces();
virtual void release_interfaces();

CONTROLLER_INTERFACE_PUBLIC
return_type init(
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