posvel_command_interface.h

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// Copyright (C) 2012, hiDOF INC.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
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//     contributors may be used to endorse or promote products derived from
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#ifndef HARDWARE_INTERFACE_POSVEL_COMMAND_INTERFACE_H
#define HARDWARE_INTERFACE_POSVEL_COMMAND_INTERFACE_H

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

namespace hardware_interface
{

class PosVelJointHandle : public JointStateHandle
{
public:
  PosVelJointHandle() : JointStateHandle(), cmd_pos_(0), cmd_vel_(0) {}

  PosVelJointHandle(const JointStateHandle& js, double* cmd_pos, double* cmd_vel)
    : JointStateHandle(js), cmd_pos_(cmd_pos), cmd_vel_(cmd_vel)
  {
    if (!cmd_pos)
    {
      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command position pointer is null.");
    }
    if (!cmd_vel)
    {
      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command velocity  pointer is null.");
    }
  }

  void setCommand(double cmd_pos, double cmd_vel)
  {
    setCommandPosition(cmd_pos);
    setCommandVelocity(cmd_vel);
  }

  void setCommandPosition(double cmd_pos)     {assert(cmd_pos_); *cmd_pos_ = cmd_pos;}
  void setCommandVelocity(double cmd_vel)     {assert(cmd_vel_); *cmd_vel_ = cmd_vel;}

  double getCommandPosition()     const {assert(cmd_pos_); return *cmd_pos_;}
  double getCommandVelocity()     const {assert(cmd_vel_); return *cmd_vel_;}

private:
  double* cmd_pos_;
  double* cmd_vel_;
};

class PosVelJointInterface : public HardwareResourceManager<PosVelJointHandle, ClaimResources> {};

}

#endif /*HARDWARE_INTERFACE_POSVEL_COMMAND_INTERFACE_H*/