text: /***
   *  Software License Agreement: BSD 3-Clause License
   *
   * Copyright (c) 2019, NMMI
   * All rights reserved.
   *
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   * modification, are permitted provided that the following conditions are met:
   *
   * Redistributions of source code must retain the above copyright notice, this
   * list of conditions and the following disclaimer.
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   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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  // ----------------------------------------------------------------------------
  
  /**
   * \file      main_inv_kin_gravity_comp.cpp
   *
   * \author       _Centro di Ricerca "E.Piaggio"_
   * \author       _Istituto Italiano di Tecnologia, Soft Robotics for Human Cooperation and Rehabilitation Lab_
  **/
  // ----------------------------------------------------------------------------
  
  #include <ros/ros.h>
  #include <ros/rate.h>
  
  // my headers
  #include "inv_kin_gravity_comp.h"
  
  
  //-----------------------------------------------------
  //                                                 main
  //-----------------------------------------------------
  int main(int argc, char **argv)
  {
    double rateHZ = 200;
  
    ros::init(argc, argv, "inv_kin_gravity_comp_node");
    ros::NodeHandle nh;
  
    inv_kin_gravity_comp Obj;
    Obj.dt = 1 / rateHZ;
    ros::Rate r(rateHZ);
  
  
    while(ros::ok())
    {
      Obj.run();
  
      ros::spinOnce();
      r.sleep();
          
    }// end while()
  return 0;
  }