ros-controls/ros_control — pull request #153 by Igorec (2014-04-12 10:35:04+00:00)
Title: Add composite controller interface

Composite controller allow use several hardware interfaces in one controller. This commit is not change existing code, only adds new functionality.

Example:

```c++
class MyController: public composite_controller_interface::CompositeController3<
hardware_interface::PositionJointInterface,
hardware_interface::ImuSensorInterface,
hardware_interface::ForceTorqueSensorInterface>

{
public:
bool init(TypeHW *hw, ros::NodeHandle &n)
{
hardware_interface::PositionJointInterface *pos_iface;
hardware_interface::ImuSensorInterface *imu_iface;
hardware_interface::ForceTorqueSensorInterface *ft_iface;
hw->get(&pos_iface, &imu_iface, &ft_iface);

// Use interfaces

}
...
};

```