franka_state_interface.h

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// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once

#include <string>

#include <franka/robot_state.h>
#include <hardware_interface/internal/hardware_resource_manager.h>

namespace franka_hw {

class FrankaStateHandle {
 public:
  FrankaStateHandle() = delete;

  FrankaStateHandle(const std::string& name, franka::RobotState& robot_state)
      : name_(name), robot_state_(&robot_state) {}

  const std::string& getName() const noexcept { return name_; }

  const franka::RobotState& getRobotState() const noexcept { return *robot_state_; }

 private:
  std::string name_;
  const franka::RobotState* robot_state_;
};

class FrankaStateInterface : public hardware_interface::HardwareResourceManager<FrankaStateHandle> {
};

}  // namespace franka_hw