force_torque_sensor_interface.h

Go to the documentation of this file.

// 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
//     notice, this list of conditions and the following disclaimer in the
//     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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.


#ifndef HARDWARE_INTERFACE_FORCE_CONTROL_SENSOR_INTERFACE_H
#define HARDWARE_INTERFACE_FORCE_CONTROL_SENSOR_INTERFACE_H

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

namespace hardware_interface
{

class ForceTorqueSensorHandle
{
public:
  ForceTorqueSensorHandle() : name_(""), frame_id_(""), force_(0), torque_(0) {}

  ForceTorqueSensorHandle(const std::string& name,
                          const std::string& frame_id,
                          const double* force,
                          const double* torque)
    : name_(name),
      frame_id_(frame_id),
      force_(force),
      torque_(torque)
  {}

  // keep non-const version for binary compatibility
  ForceTorqueSensorHandle(const std::string& name,
                          const std::string& frame_id,
                          double* force,
                          double* torque)
    : name_(name),
      frame_id_(frame_id),
      force_(force),
      torque_(torque)
  {}

  std::string getName()     const {return name_;}
  std::string getFrameId()  const {return frame_id_;}
  const double* getForce()  const {return force_;}
  const double* getTorque() const {return torque_;}

private:
  std::string name_;
  std::string frame_id_;
  const double* force_;
  const double* torque_;
};

class ForceTorqueSensorInterface : public HardwareResourceManager<ForceTorqueSensorHandle> {};

}

#endif // HARDWARE_INTERFACE_FORCE_CONTROL_SENSOR_INTERFACE_H