robot_state_interface.hpp

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/*
 * robot_state.hpp
 *
 *  Created on: 19 Feb 2016
 *      Author: Toni Oliver
 *
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#ifndef ROS_ETHERCAT_MODEL_ROBOT_STATE_INTERFACE_HPP
#define ROS_ETHERCAT_MODEL_ROBOT_STATE_INTERFACE_HPP

#include <hardware_interface/internal/hardware_resource_manager.h>
#include "ros_ethercat_model/robot_state.hpp"


namespace ros_ethercat_model
{

class RobotStateHandle
{
public:
  RobotStateHandle() : name_(), state_(0) {}

  RobotStateHandle(const std::string& name, RobotState* state)
    : name_(name), state_(state)
  {
    if (!state)
    {
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name + "'. RobtState data pointer is null.");
    }
  }

  std::string getName() const {return name_;}
  RobotState* getState() const {assert(state_); return state_;}

private:
  std::string name_;
  RobotState* state_;
};

class RobotStateInterface : public hardware_interface::HardwareResourceManager<RobotStateHandle> {};

}

#endif