<library path="lib/libcontroller_manager_tests">
  <class name="controller_manager_tests/EffortTestController" type="controller_manager_tests::EffortTestController" base_class_type="controller_interface::ControllerBase">
  <description>
    The effort test controller expects a JointEffortCommandInterface type of hardware interface.
  </description>
  </class>

  <class name="controller_manager_tests/MyDummyController" type="controller_manager_tests::MyDummyController" base_class_type="controller_interface::ControllerBase">
  <description>
    This is a stub controller that uses an interface that likely no-one will support.
  </description>
  </class>

  <class name="controller_manager_tests/VelEffController" type="controller_manager_tests::VelEffController" base_class_type="controller_interface::ControllerBase">
  <description>
    This is a multi-interface controller claiming resources from two required interfaces.
  </description>
  </class>

  <class name="controller_manager_tests/PosEffController" type="controller_manager_tests::PosEffController" base_class_type="controller_interface::ControllerBase">
  <description>
    This is a multi-interface controller claiming resources from two required interfaces.
    One of the interfaces is not exposed by the robot in this test suite.
  </description>
  </class>

  <class name="controller_manager_tests/PosEffOptController" type="controller_manager_tests::PosEffOptController" base_class_type="controller_interface::ControllerBase">
  <description>
    This is a multi-interface controller claiming resources from two required interfaces. Interfaces are not required,
    but optional.
  </description>
  </class>

  <class name="controller_manager_tests/ExtensibleController" type="controller_manager_tests::ExtensibleController" base_class_type="controller_interface::ControllerBase">
  <description>
    This is a base controller with a virtual method to enable extending. It requires a single velocity interface.
  </description>
  </class>

  <class name="controller_manager_tests/DerivedController" type="controller_manager_tests::DerivedController" base_class_type="controller_interface::ControllerBase">
  <description>
    This controller extends ExtensibleController, overriding the supplied virtual method and also requiring an additional effort interface.
  </description>
  </class>
</library>