YouBotConfiguration.cpp

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/******************************************************************************
 * Copyright (c) 2011
 * Locomotec
 *
 * Author:
 * Sebastian Blumenthal
 *
 *
 * This software is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 * * Neither the name of Locomotec nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ******************************************************************************/

#include "youbot_driver_ros_interface/YouBotConfiguration.h"

namespace youBot
{

YouBotBaseConfiguration::YouBotBaseConfiguration()
{
    youBotBase = 0;

    /* provide some default values for the joint names (might be overwritten) */
    /*
     *  numbering of youBot wheels:
     *
     *    FRONT
     *
     * 1 ---+--- 2
     *      |
     *      |
     *      |
     *      |
     * 3 ---+--- 4
     *
     *    BACK
     */
    wheelNames.clear();
    wheelNames.push_back("wheel_joint_fl"); //wheel #1
    wheelNames.push_back("wheel_joint_fr"); //wheel #2
    wheelNames.push_back("wheel_joint_bl"); //wheel #3
    wheelNames.push_back("wheel_joint_br"); //wheel #4
}

YouBotBaseConfiguration::~YouBotBaseConfiguration()
{
    // No delete of youBot base pointer - this class has no ownership 
}

YouBotArmConfiguration::YouBotArmConfiguration()
{
    youBotArm = 0;
    armJointTrajectoryAction = 0;

    /* provide some default values for the joint names (might be overwritten) */
    jointNames.clear();
    jointNames.push_back("arm_joint_1");
    jointNames.push_back("arm_joint_2");
    jointNames.push_back("arm_joint_3");
    jointNames.push_back("arm_joint_4");
    jointNames.push_back("arm_joint_5");

    gripperFingerNames.clear();
    gripperFingerNames.push_back("gripper_finger_joint_l");
    gripperFingerNames.push_back("gripper_finger_joint_r");
}

YouBotArmConfiguration::~YouBotArmConfiguration()
{
    // No delete of youBot arm pointer - this class has no ownership 
    if (armJointTrajectoryAction) {
                delete armJointTrajectoryAction;
                armJointTrajectoryAction = 0;
        }
    jointNames.clear();
}

YouBotConfiguration::YouBotConfiguration()
{
    youBotArmConfigurations.clear();
    armNameToArmIndexMapping.clear();
    hasBase = false;
    hasArms = false;
}

YouBotConfiguration::~YouBotConfiguration()
{
    youBotArmConfigurations.clear();
    armNameToArmIndexMapping.clear();
}

} // namespace youBot

/* EOF */