shadow_hand.hpp

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#pragma once

#include <string>
#include <vector>
#include <map>

namespace shadow_robot_standalone
{

struct JointState
{
  JointState() :
    position(), velocity(), effort() {}
  JointState(double _position, double _velocity, double _effort) :
    position(_position), velocity(_velocity), effort(_effort) {}
  double position;
  double velocity;
  double effort;
};

struct Tactile
{
  int pac0;
  int pac1;
  int pdc;

  int tac;
  int tdc;

  static const int no_of_electrodes = 19;
  int electrodes[no_of_electrodes];
};

enum ControlType
{
  POSITION_PWM,
  EFFORT_TORQUE
};

class ShadowHand
{
public:
  ShadowHand();
  ~ShadowHand();

  bool get_control_type(ControlType & control_type);

  bool set_control_type(ControlType control_type);

  void send_position(const std::string &joint_name, double target);

  void send_all_positions(const std::vector<double> &targets);

  void send_torque(const std::string &joint_name, double target);

  void send_all_torques(const std::vector<double> &targets);

  std::map<std::string, JointState> & get_joint_states() const;
  std::vector<Tactile> & get_tactiles() const;

  std::vector<std::string> get_controlled_joints() const;

  std::vector<std::string> get_joints_with_state() const;

private:
  /*
   * Pimpl idiom for hiding implementation details in the header file
   */
  class SrRosWrapper; // fwd declaration
  SrRosWrapper *wrapper_;
  ShadowHand(const ShadowHand& other) {
  }
  ShadowHand& operator=(const ShadowHand& other) {
  }
};

} // namespace