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expose get_data_type method in loaned interfaces #2351

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Merged
merged 1 commit into from
Jul 1, 2025
Merged

expose get_data_type method in loaned interfaces #2351

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3 changes: 2 additions & 1 deletion hardware_interface/include/hardware_interface/actuator_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -586,7 +586,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
return opt_value.value();
}

void set_command(const std::string & interface_name, const double & value)
template <typename T>
void set_command(const std::string & interface_name, const T & value)
{
auto it = actuator_commands_.find(interface_name);
if (it == actuator_commands_.end())
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6 changes: 6 additions & 0 deletions hardware_interface/include/hardware_interface/loaned_command_interface.hpp
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Expand Up @@ -172,6 +172,12 @@ class LoanedCommandInterface
return std::nullopt;
}

/**
* @brief Get the data type of the command interface.
* @return The data type of the command interface.
*/
HandleDataType get_data_type() const { return command_interface_.get_data_type(); }

protected:
CommandInterface & command_interface_;
Deleter deleter_;
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6 changes: 6 additions & 0 deletions hardware_interface/include/hardware_interface/loaned_state_interface.hpp
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Expand Up @@ -132,6 +132,12 @@ class LoanedStateInterface
return std::nullopt;
}

/**
* @brief Get the data type of the state interface.
* @return The data type of the state interface.
*/
HandleDataType get_data_type() const { return state_interface_.get_data_type(); }

protected:
const StateInterface & state_interface_;
Deleter deleter_;
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3 changes: 2 additions & 1 deletion hardware_interface/include/hardware_interface/system_interface.hpp
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Expand Up @@ -616,7 +616,8 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
return opt_value.value();
}

void set_command(const std::string & interface_name, const double & value)
template <typename T>
void set_command(const std::string & interface_name, const T & value)
{
auto it = system_commands_.find(interface_name);
if (it == system_commands_.end())
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