text: // Copyright 2020 ros2_control Development Team
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #include <algorithm>
  #include <memory>
  #include <string>
  #include <utility>
  #include <vector>
  
  #include "hardware_interface/components/actuator.hpp"
  #include "hardware_interface/components/actuator_interface.hpp"
  
  #include "hardware_interface/handle.hpp"
  #include "hardware_interface/hardware_info.hpp"
  #include "hardware_interface/types/hardware_interface_return_values.hpp"
  #include "hardware_interface/types/hardware_interface_status_values.hpp"
  
  namespace hardware_interface
  {
  namespace components
  {
  
  Actuator::Actuator(std::unique_ptr<ActuatorInterface> impl)
  : impl_(std::move(impl))
  {}
  
  return_type Actuator::configure(const HardwareInfo & actuator_info)
  {
    return impl_->configure(actuator_info);
  }
  
  std::vector<StateInterface> Actuator::export_state_interfaces()
  {
    // TODO(karsten1987): Might be worth to do some brief sanity check here
    return impl_->export_state_interfaces();
  }
  
  std::vector<CommandInterface> Actuator::export_command_interfaces()
  {
    // TODO(karsten1987): Might be worth to do some brief sanity check here
    return impl_->export_command_interfaces();
  }
  
  return_type Actuator::start()
  {
    return impl_->start();
  }
  
  return_type Actuator::stop()
  {
    return impl_->stop();
  }
  
  status Actuator::get_status() const
  {
    return impl_->get_status();
  }
  
  return_type Actuator::read()
  {
    return impl_->read();
  }
  
  return_type Actuator::write()
  {
    return impl_->write();
  }
  
  }  // namespace components
  }  // namespace hardware_interface
  