joint_state_interface.h
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #ifndef HARDWARE_INTERFACE_JOINT_STATE_INTERFACE_H
00031 #define HARDWARE_INTERFACE_JOINT_STATE_INTERFACE_H
00032 
00033 #include <hardware_interface/internal/hardware_resource_manager.h>
00034 #include <cassert>
00035 #include <string>
00036 
00037 namespace hardware_interface
00038 {
00039 
00041 class JointStateHandle
00042 {
00043 public:
00044   JointStateHandle() : name_(), pos_(0), vel_(0), eff_(0) {}
00045 
00052   JointStateHandle(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 private:
00075   std::string name_;
00076   const double* pos_;
00077   const double* vel_;
00078   const double* eff_;
00079 };
00080 
00088 class JointStateInterface : public HardwareResourceManager<JointStateHandle> {};
00089 
00090 }
00091 
00092 #endif


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Thu Dec 1 2016 03:45:48