actuator_command_interface.h

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// Copyright (C) 2012, hiDOF INC.
// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// 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.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
#pragma once
 
 
#include <string>
#include <hardware_interface/internal/hardware_resource_manager.h>
#include <hardware_interface/actuator_state_interface.h>
 
namespace hardware_interface
{
 
class ActuatorHandle : public ActuatorStateHandle
{
public:
  ActuatorHandle() = default;
 
  ActuatorHandle(const ActuatorStateHandle& as, double* cmd)
    : ActuatorStateHandle(as), cmd_(cmd)
  {
    if (!cmd_)
    {
      throw HardwareInterfaceException("Cannot create handle '" + as.getName() + "'. Command data pointer is null.");
    }
  }
 
  void setCommand(double command) {assert(cmd_); *cmd_ = command;}
  double getCommand() const {assert(cmd_); return *cmd_;}
 
  double* getCommandPtr() {return cmd_;}
 
private:
  double* cmd_ = {nullptr};
};
 
class ActuatorCommandInterface : public HardwareResourceManager<ActuatorHandle> {};
 
class EffortActuatorInterface : public ActuatorCommandInterface {};
 
class VelocityActuatorInterface : public ActuatorCommandInterface {};
 
class PositionActuatorInterface : public ActuatorCommandInterface {};
 
}