actuator_command_interface.h

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// Copyright (C) 2012, hiDOF INC.
// Copyright (C) 2013, PAL Robotics S.L.
//
// 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
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//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
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#ifndef HARDWARE_INTERFACE_ACTUATOR_COMMAND_INTERFACE_H
#define HARDWARE_INTERFACE_ACTUATOR_COMMAND_INTERFACE_H

#include <string>
#include <hardware_interface/internal/hardware_resource_manager.h>
#include <hardware_interface/actuator_state_interface.h>

namespace hardware_interface
{

class ActuatorHandle : public ActuatorStateHandle
{
public:
  ActuatorHandle() : ActuatorStateHandle(), cmd_(0) {}

  ActuatorHandle(const ActuatorStateHandle& as, double* cmd)
    : ActuatorStateHandle(as), cmd_(cmd)
  {
    if (!cmd_)
    {
      throw HardwareInterfaceException("Cannot create handle '" + as.getName() + "'. Command data pointer is null.");
    }
  }

  void setCommand(double command) {assert(cmd_); *cmd_ = command;}
  double getCommand() const {assert(cmd_); return *cmd_;}

  double* getCommandPtr() {return cmd_;}

private:
  double* cmd_;
};

class ActuatorCommandInterface : public HardwareResourceManager<ActuatorHandle> {};

class EffortActuatorInterface : public ActuatorCommandInterface {};

class VelocityActuatorInterface : public ActuatorCommandInterface {};

class PositionActuatorInterface : public ActuatorCommandInterface {};

}

#endif