YouBotConfiguration.cpp

Go to the documentation of this file.

/******************************************************************************
 * Copyright (c) 2011
 * Locomotec
 *
 * Author:
 * Sebastian Blumenthal
 *
 *
 * This software is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * 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 Locomotec nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ******************************************************************************/


#include <YouBotConfiguration.h>

namespace youBot
{

YouBotBaseConfiguration::YouBotBaseConfiguration()
{
  youBotBase = 0;

  /* provide some default values for the joint names (might be overwritten) */
  /*
   *  numbering of youBot wheels:
   *
   *    FRONT
   *
   * 1 ---+--- 2
   *      |
   *      |
   *      |
   *      |
   * 3 ---+--- 4
   *
   *    BACK
   */
  wheelNames.clear();
  wheelNames.push_back("wheel_joint_fl"); //wheel #1
  wheelNames.push_back("wheel_joint_fr"); //wheel #2
  wheelNames.push_back("wheel_joint_bl"); //wheel #3
  wheelNames.push_back("wheel_joint_br"); //wheel #4

}

YouBotBaseConfiguration::~YouBotBaseConfiguration()
{

  // No delete of youBot base pointer - this class has no ownership
}

YouBotArmConfiguration::YouBotArmConfiguration()
{

  youBotArm = 0;
  armJointTrajectoryAction = 0;

  /* provide some default values for the joint names (might be overwritten) */
  jointNames.clear();
  jointNames.push_back("arm_joint_1");
  jointNames.push_back("arm_joint_2");
  jointNames.push_back("arm_joint_3");
  jointNames.push_back("arm_joint_4");
  jointNames.push_back("arm_joint_5");

  gripperFingerNames.clear();
  gripperFingerNames.push_back("gripper_finger_joint_l");
  gripperFingerNames.push_back("gripper_finger_joint_r");
}

YouBotArmConfiguration::~YouBotArmConfiguration()
{
  // No delete of youBot arm pointer - this class has no ownership
  if (armJointTrajectoryAction)
  {
    delete armJointTrajectoryAction;
    armJointTrajectoryAction = 0;
  }
  jointNames.clear();
}

YouBotConfiguration::YouBotConfiguration()
{
  youBotArmConfigurations.clear();
  armNameToArmIndexMapping.clear();
  hasBase = false;
  hasArms = false;
}

YouBotConfiguration::~YouBotConfiguration()
{
  youBotArmConfigurations.clear();
  armNameToArmIndexMapping.clear();
}

bool YouBotConfiguration::isEtherCATOkay() {
  //std::vector<YouBotArmConfiguration> youBotArmConfigurations
  bool okay=true;
  for (std::vector<YouBotArmConfiguration>::iterator it = youBotArmConfigurations.begin();
        it != youBotArmConfigurations.end(); ++it)
    {
      if (!(*it).youBotArm->isEtherCATConnectionEstablished()) {
        okay=false;
        break;
      }
    }
  return okay;
}

} // namespace youBot

/* EOF */