demonstrator_params.h

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#ifndef __3D_MAP_DEMON_PARAMS_H_
#define __3D_MAP_DEMON_PARAMS_H_

class DemonstratorParams
{
public:
        DemonstratorParams()
        {

        }

        ~DemonstratorParams();

        void init(std::string SerialDevice, int BaudRate)
        {
                setSerialDevice(SerialDevice);
                setBaudRate(BaudRate);
        }

        void setSerialDevice(std::string SerialDeviceName) {
                serial_device_name_ = SerialDeviceName;
        }
        std::string getSerialDevice() {
                return serial_device_name_;
        }

        void setBaudRate(int BaudRate) {
                baud_rate_ = BaudRate;
        }
        int getBaudRate() {
                return baud_rate_;
        }

        /*void SetOperationMode(std::string opMode) {
                m_operationMode = opMode;
        }
        std::string GetOperationMode() {
                return m_operationMode;
        }*/

        void setDOF(int DOF) {
                dof_ = DOF;
        }

        unsigned int getDOF() {
                return dof_;
        }

        void setJointNames(std::vector<std::string> JointNames) {
                joint_names_ = JointNames;
        }
        std::vector<std::string> getJointNames() {
                return joint_names_;
        }

        void setUpperLimits(std::vector<double> UpperLimits) {
                upper_limits_ = UpperLimits;
        }
        std::vector<double> getUpperLimits() {
                return upper_limits_;
        }

        void setLowerLimits(std::vector<double> LowerLimits) {
                lower_limits_ = LowerLimits;
        }
        std::vector<double> getLowerLimits() {
                return lower_limits_;
        }

        void setMaxVel(std::vector<double> MaxVel) {
                max_vel_ = MaxVel;
        }
        std::vector<double> getMaxVel()
        {
                return max_vel_;
        }

        void setOffsets(std::vector<double> Offsets)    {
                offsets_ = Offsets;
        }
        std::vector<double> getOffsets() {
                return offsets_;
        }

        void setVels( std::vector<double> velocities )  {
                vels_ = velocities;
        }
        std::vector<double> getVels() {
                return vels_;
        }

        void setAccels( std::vector<double> accels )  {
                accels_ = accels;
        }
        std::vector<double> getAccels() {
                return accels_;
        }

private:
        std::string serial_device_name_;
        int baud_rate_;
        //std::string m_operationMode;

        unsigned int dof_;
        std::vector<std::string> joint_names_;
        std::vector<double> upper_limits_;
        std::vector<double> lower_limits_;
        std::vector<double> max_vel_;
        std::vector<double> vels_;
        std::vector<double> accels_;
        std::vector<double> offsets_;
};

#endif