actuator_state_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_STATE_INTERFACE_H
#define HARDWARE_INTERFACE_ACTUATOR_STATE_INTERFACE_H

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

namespace hardware_interface
{

class ActuatorStateHandle
{
public:
  ActuatorStateHandle() : name_(), pos_(0), vel_(0), eff_(0) {}

  ActuatorStateHandle(const std::string& name, const double* pos, const double* vel, const double* eff)
    : name_(name), pos_(pos), vel_(vel), eff_(eff)
  {
    if (!pos)
    {
      throw HardwareInterfaceException("Cannot create handle '" + name + "'. Position data pointer is null.");
    }
    if (!vel)
    {
      throw HardwareInterfaceException("Cannot create handle '" + name + "'. Velocity data pointer is null.");
    }
    if (!eff)
    {
      throw HardwareInterfaceException("Cannot create handle '" + name + "'. Effort data pointer is null.");
    }
  }

  std::string getName() const {return name_;}
  double getPosition()  const {assert(pos_); return *pos_;}
  double getVelocity()  const {assert(vel_); return *vel_;}
  double getEffort()    const {assert(eff_); return *eff_;}

  const double* getPositionPtr() const {return pos_;}
  const double* getVelocityPtr() const {return vel_;}
  const double* getEffortPtr()   const {return eff_;}

private:
  std::string name_;
  const double* pos_;
  const double* vel_;
  const double* eff_;
};

class ActuatorStateInterface : public HardwareResourceManager<ActuatorStateHandle> {};

}

#endif