rsi_command.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2014 Norwegian University of Science and Technology
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Univ of CO, Boulder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /*
36  * Author: Lars Tingelstad <lars.tingelstad@ntnu.no>
37  */
38 
39 #ifndef KUKA_RSI_HW_INTERFACE_RSI_COMMAND_
40 #define KUKA_RSI_HW_INTERFACE_RSI_COMMAND_
41 
42 #include <tinyxml.h>
43 #include <vector>
44 
45 namespace kuka_rsi_hw_interface
46 {
47 
49 {
50 public:
51  RSICommand();
52  RSICommand(std::vector<double> position_corrections, unsigned long long ipoc);
53  std::string xml_doc;
54 };
55 
57 {
58  // Intentionally empty
59 }
60 
61 RSICommand::RSICommand(std::vector<double> joint_position_correction, unsigned long long ipoc)
62 {
63  TiXmlDocument doc;
64  TiXmlElement* root = new TiXmlElement("Sen");
65  root->SetAttribute("Type", "ImFree");
66  TiXmlElement* el = new TiXmlElement("AK");
67  // Add string attribute
68  el->SetAttribute("A1", std::to_string(joint_position_correction[0]));
69  el->SetAttribute("A2", std::to_string(joint_position_correction[1]));
70  el->SetAttribute("A3", std::to_string(joint_position_correction[2]));
71  el->SetAttribute("A4", std::to_string(joint_position_correction[3]));
72  el->SetAttribute("A5", std::to_string(joint_position_correction[4]));
73  el->SetAttribute("A6", std::to_string(joint_position_correction[5]));
74 
75  root->LinkEndChild(el);
76  el = new TiXmlElement("IPOC");
77  el->LinkEndChild(new TiXmlText(std::to_string(ipoc)));
78  root->LinkEndChild(el);
79  doc.LinkEndChild(root);
80  TiXmlPrinter printer;
81  printer.SetStreamPrinting();
82  doc.Accept(&printer);
83 
84  xml_doc = printer.Str();
85 }
86 
87 } // namespace kuka_rsi_hw_interface
88 
89 #endif


kuka_rsi_hw_interface
Author(s): Lars Tingelstad
autogenerated on Tue Oct 15 2019 03:33:54