hardware_interface.hpp

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#ifndef ROS_ETHERCAT_MODEL_HARDWARE_INTERFACE_H
#define ROS_ETHERCAT_MODEL_HARDWARE_INTERFACE_H

#include <string>
#include <vector>

#include <ros/ros.h>

namespace ros_ethercat_model
{

class ActuatorState
{
public:
  ActuatorState() :
    device_id_(0),
    position_(0),
    velocity_(0),
    last_commanded_current_(0.0),
    last_measured_current_(0.0),
    last_commanded_effort_(0.0),
    last_measured_effort_(0.0),
    max_effort_(0.0),
    motor_voltage_(0.0)
  {
  }

  int device_id_; 

  double position_; 
  double velocity_; 

  double last_commanded_current_; 
  double last_measured_current_; 

  double last_commanded_effort_; 
  double last_measured_effort_; 

  double max_effort_; 

  double motor_voltage_; 
};

class ActuatorCommand
{
public:
  ActuatorCommand() :
    enable_(0),
    effort_(0)
  {
  }

  bool enable_; 
  double effort_; 
};

class Actuator
{
public:
  std::string name_;
  ActuatorState state_;
  ActuatorCommand command_;
};

class CustomHW
{
public:
  virtual ~CustomHW() {}
  virtual void read(const ros::Time &time) {}
  virtual void write(const ros::Time &time) {}
};

}

#endif