.. _program_listing_file__tmp_ws_src_rt_manipulators_cpp_rt_manipulators_lib_include_joint.hpp:

Program Listing for File joint.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rt_manipulators_cpp_rt_manipulators_lib_include_joint.hpp>` (``/tmp/ws/src/rt_manipulators_cpp/rt_manipulators_lib/include/joint.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RT Corporation
   //
   // 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.
   
   #ifndef RT_MANIPULATORS_LIB_INCLUDE_JOINT_HPP_
   #define RT_MANIPULATORS_LIB_INCLUDE_JOINT_HPP_
   
   #include <cstdint>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "dynamixel_base.hpp"
   
   namespace joint {
   
   class Joint {
    public:
     Joint(const uint8_t id, const uint8_t operating_mode);
     Joint(const uint8_t id, const uint8_t operating_mode, const std::string dynamixel_name);
     uint8_t id() const;
     uint8_t operating_mode() const;
     void set_position_limit_margin(const double position_radian);
     void set_position_limit(const double min_position_radian, const double max_position_radian);
     double max_position_limit() const;
     double min_position_limit() const;
     void set_current_limit_margin(const double current_ampere);
     void set_current_limit(const double max_current_ampere);
     double current_limit_when_position_exceeds_limit() const;
     void set_present_position(const double position_radian);
     void set_present_velocity(const double velocity_rps);
     void set_present_current(const double current_ampere);
     void set_present_voltage(const double voltage_volt);
     void set_present_temperature(const int8_t temperature_degree);
     double get_present_position() const;
     double get_present_velocity() const;
     double get_present_current() const;
     double get_present_voltage() const;
     int8_t get_present_temperature() const;
     void set_goal_position(const double position_radian);
     void set_goal_velocity(const double velocity_rps);
     void set_goal_current(const double current_ampere);
     double get_goal_position() const;
     double get_goal_velocity() const;
     double get_goal_current() const;
   
     std::shared_ptr<dynamixel_base::DynamixelBase> dxl;
   
    private:
     uint8_t id_;
     uint8_t operating_mode_;
     double position_limit_margin_;
     double max_position_limit_;
     double min_position_limit_;
     double current_limit_margin_;
     double max_current_limit_;
     double current_limit_when_position_exceeds_limit_;
     double present_position_;
     double present_velocity_;
     double present_current_;
     double present_voltage_;
     int8_t present_temperature_;
     double goal_position_;
     double goal_velocity_;
     double goal_current_;
   };
   
   class JointGroup {
    public:
     JointGroup(const std::vector<std::string>& joint_names,
                const std::vector<std::string>& sync_read_targets,
                const std::vector<std::string>& sync_write_targets);
     std::vector<std::string> joint_names() const;
     bool sync_read_position_enabled() const;
     bool sync_read_velocity_enabled() const;
     bool sync_read_current_enabled() const;
     bool sync_read_voltage_enabled() const;
     bool sync_read_temperature_enabled() const;
     bool sync_write_position_enabled() const;
     bool sync_write_velocity_enabled() const;
     bool sync_write_current_enabled() const;
   
    private:
     std::vector<std::string> joint_names_;
     bool sync_read_position_enabled_;
     bool sync_read_velocity_enabled_;
     bool sync_read_current_enabled_;
     bool sync_read_voltage_enabled_;
     bool sync_read_temperature_enabled_;
     bool sync_write_position_enabled_;
     bool sync_write_velocity_enabled_;
     bool sync_write_current_enabled_;
   };
   
   }  // namespace joint
   
   #endif  // RT_MANIPULATORS_LIB_INCLUDE_JOINT_HPP_