00001 00002 // Copyright (C) 2012, hiDOF INC. 00003 // Copyright (C) 2013, PAL Robotics S.L. 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 // * Redistributions of source code must retain the above copyright notice, 00008 // this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of hiDOF, Inc. nor the names of its 00013 // contributors may be used to endorse or promote products derived from 00014 // this software without specific prior written permission. 00015 // 00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00026 // POSSIBILITY OF SUCH DAMAGE. 00028 00030 00031 #ifndef HARDWARE_INTERFACE_ACTUATOR_STATE_INTERFACE_H 00032 #define HARDWARE_INTERFACE_ACTUATOR_STATE_INTERFACE_H 00033 00034 #include <hardware_interface/internal/hardware_resource_manager.h> 00035 #include <string> 00036 00037 namespace hardware_interface 00038 { 00039 00041 class ActuatorStateHandle 00042 { 00043 public: 00044 ActuatorStateHandle() : name_(), pos_(0), vel_(0), eff_(0) {} 00045 00052 ActuatorStateHandle(const std::string& name, const double* pos, const double* vel, const double* eff) 00053 : name_(name), pos_(pos), vel_(vel), eff_(eff) 00054 { 00055 if (!pos) 00056 { 00057 throw HardwareInterfaceException("Cannot create handle '" + name + "'. Position data pointer is null."); 00058 } 00059 if (!vel) 00060 { 00061 throw HardwareInterfaceException("Cannot create handle '" + name + "'. Velocity data pointer is null."); 00062 } 00063 if (!eff) 00064 { 00065 throw HardwareInterfaceException("Cannot create handle '" + name + "'. Effort data pointer is null."); 00066 } 00067 } 00068 00069 std::string getName() const {return name_;} 00070 double getPosition() const {assert(pos_); return *pos_;} 00071 double getVelocity() const {assert(vel_); return *vel_;} 00072 double getEffort() const {assert(eff_); return *eff_;} 00073 00074 const double* getPositionPtr() const {return pos_;} 00075 const double* getVelocityPtr() const {return vel_;} 00076 const double* getEffortPtr() const {return eff_;} 00077 00078 private: 00079 std::string name_; 00080 const double* pos_; 00081 const double* vel_; 00082 const double* eff_; 00083 }; 00084 00092 class ActuatorStateInterface : public HardwareResourceManager<ActuatorStateHandle> {}; 00093 00094 } 00095 00096 #endif