FakeServo.h
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00001 /*
00002  * Copyright (c) 2010, Robot Control and Pattern Recognition Group, Warsaw University of Technology.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Robot Control and Pattern Recognition Group,
00014  *       Warsaw University of Technology nor the names of its contributors may
00015  *       be used to endorse or promote products derived from this software
00016  *       without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 /*
00032  * FakeServo.h
00033  *
00034  *  Created on: 22-09-2010
00035  *      Author: konrad
00036  */
00037 
00038 #ifndef FAKESERVO_H_
00039 #define FAKESERVO_H_
00040 
00041 #include <string>
00042 #include <vector>
00043 
00044 #include <rtt/TaskContext.hpp>
00045 #include <rtt/Port.hpp>
00046 #include <rtt/Property.hpp>
00047 
00048 class FakeServo: public RTT::TaskContext {
00049 public:
00050   FakeServo(const std::string& name);
00051   virtual ~FakeServo();
00052 
00053   bool configureHook();
00054   bool startHook();
00055   void updateHook();
00056 protected:
00057   RTT::InputPort<std::vector<double> > cmd_jnt_pos_port_;
00058 
00059   RTT::OutputPort<std::vector<double> > msr_jnt_pos_port_;
00060   RTT::OutputPort<std::vector<double> > des_jnt_pos_port_;
00061 
00062   RTT::OutputPort<double> command_period_port_;
00063 
00064   RTT::Property<int> number_of_joints_prop_;
00065 private:
00066   std::vector<double> jnt_pos_;
00067 
00068   std::vector<double> initial_pos_;
00069 
00070   double dt_;
00071   
00072   unsigned int number_of_joints_;
00073 };
00074 
00075 #endif /* FAKESERVO_H_ */
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fake_servo
Author(s): Konrad Banachowicz
autogenerated on Thu Nov 14 2013 11:52:52