joint_state_interface.h
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27 
29 
30 #ifndef HARDWARE_INTERFACE_JOINT_STATE_INTERFACE_H
31 #define HARDWARE_INTERFACE_JOINT_STATE_INTERFACE_H
32 
34 #include <cassert>
35 #include <string>
36 
37 namespace hardware_interface
38 {
39 
42 {
43 public:
44  JointStateHandle() : name_(), pos_(0), vel_(0), eff_(0) {}
45 
52  JointStateHandle(const std::string& name, const double* pos, const double* vel, const double* eff)
53  : name_(name), pos_(pos), vel_(vel), eff_(eff)
54  {
55  if (!pos)
56  {
57  throw HardwareInterfaceException("Cannot create handle '" + name + "'. Position data pointer is null.");
58  }
59  if (!vel)
60  {
61  throw HardwareInterfaceException("Cannot create handle '" + name + "'. Velocity data pointer is null.");
62  }
63  if (!eff)
64  {
65  throw HardwareInterfaceException("Cannot create handle '" + name + "'. Effort data pointer is null.");
66  }
67  }
68 
69  std::string getName() const {return name_;}
70  double getPosition() const {assert(pos_); return *pos_;}
71  double getVelocity() const {assert(vel_); return *vel_;}
72  double getEffort() const {assert(eff_); return *eff_;}
73 
74 private:
75  std::string name_;
76  const double* pos_;
77  const double* vel_;
78  const double* eff_;
79 };
80 
88 class JointStateInterface : public HardwareResourceManager<JointStateHandle> {};
89 
90 }
91 
92 #endif
Hardware interface to support reading the state of an array of joints.
JointStateHandle(const std::string &name, const double *pos, const double *vel, const double *eff)
An exception related to a HardwareInterface.
Base class for handling hardware resources.


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Mon Apr 20 2020 03:52:05