joint_command_interface.h

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// Copyright (C) 2012, hiDOF INC.
//
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#ifndef HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
#define HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H

#include <cassert>
#include <string>
#include <hardware_interface/internal/hardware_resource_manager.h>
#include <hardware_interface/joint_state_interface.h>

namespace hardware_interface
{

class JointHandle : public JointStateHandle
{
public:
  JointHandle() : JointStateHandle(), cmd_(0) {}

  JointHandle(const JointStateHandle& js, double* cmd)
    : JointStateHandle(js), cmd_(cmd)
  {
    if (!cmd_)
    {
      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command data pointer is null.");
    }
  }

  void setCommand(double command) {assert(cmd_); *cmd_ = command;}
  double getCommand() const {assert(cmd_); return *cmd_;}

private:
  double* cmd_;
};

class JointCommandInterface : public HardwareResourceManager<JointHandle, ClaimResources> {};

class EffortJointInterface : public JointCommandInterface {};

class VelocityJointInterface : public JointCommandInterface {};

class PositionJointInterface : public JointCommandInterface {};

}

#endif