YouBotJointParameterPasswordProtected.hpp

Go to the documentation of this file.

#ifndef YOUBOT_YOUBOTJOINTPARAMETERPASSWORDPROTECTED_H
#define YOUBOT_YOUBOTJOINTPARAMETERPASSWORDPROTECTED_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include <boost/limits.hpp>
#include "youbot_driver/generic/Logger.hpp"
#include "youbot_driver/generic/Units.hpp"
#include "youbot_driver/generic/Time.hpp"
#include "youbot_driver/generic/Exceptions.hpp"
#include "youbot_driver/generic-joint/JointParameter.hpp"
#include "youbot_driver/youbot/YouBotJointParameter.hpp"
#include "youbot_driver/youbot/YouBotSlaveMsg.hpp"
#include "youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp"
#include "youbot_driver/youbot/YouBotJointStorage.hpp"
namespace youbot {

class YouBotJointParameterPasswordProtected : public YouBotJointParameter {
friend class YouBotJoint;
  protected:
    YouBotJointParameterPasswordProtected();


  public:
    virtual ~YouBotJointParameterPasswordProtected();

    virtual void toString(std::string& value) = 0;


  protected:
    virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const = 0;

    virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage) = 0;

    virtual std::string getName() const = 0;

    virtual ParameterType getType() const = 0;

    std::string name;

    ParameterType parameterType;

};
class ActivateOvervoltageProtection : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    ActivateOvervoltageProtection();

    virtual ~ActivateOvervoltageProtection();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class ActualCommutationOffset : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    ActualCommutationOffset();

    virtual ~ActualCommutationOffset();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class ApproveProtectedParameters : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    ApproveProtectedParameters();

    virtual ~ApproveProtectedParameters();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class BEMFConstant : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    BEMFConstant();

    virtual ~BEMFConstant();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class CommutationMode : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    CommutationMode();

    virtual ~CommutationMode();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class CommutationMotorCurrent : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    CommutationMotorCurrent();

    virtual ~CommutationMotorCurrent();

    void getParameter(quantity<current>& parameter) const;

    void setParameter(const quantity<current>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<current> upperLimit;

    quantity<current> lowerLimit;

    quantity<current> value;

    std::string name;

    ParameterType parameterType;

};
class CurrentControlLoopDelay : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    CurrentControlLoopDelay();

    virtual ~CurrentControlLoopDelay();

    void getParameter(quantity<si::time>& parameter) const;

    void setParameter(const quantity<si::time>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<si::time> upperLimit;

    quantity<si::time> lowerLimit;

    quantity<si::time> value;

    std::string name;

    ParameterType parameterType;

};
class EncoderResolution : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    EncoderResolution();

    virtual ~EncoderResolution();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class EncoderStopSwitch : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    EncoderStopSwitch();

    virtual ~EncoderStopSwitch();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class HallSensorPolarityReversal : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    HallSensorPolarityReversal();

    virtual ~HallSensorPolarityReversal();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class I2tExceedCounter : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    I2tExceedCounter();

    virtual ~I2tExceedCounter();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class I2tLimit : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    I2tLimit();

    virtual ~I2tLimit();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class InitializationMode : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    InitializationMode();

    virtual ~InitializationMode();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class InitSineDelay : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    InitSineDelay();

    virtual ~InitSineDelay();

    void getParameter(quantity<si::time>& parameter) const;

    void setParameter(const quantity<si::time>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<si::time> upperLimit;

    quantity<si::time> lowerLimit;

    quantity<si::time> value;

    std::string name;

    ParameterType parameterType;

};
class MassInertiaConstant : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    MassInertiaConstant();

    virtual ~MassInertiaConstant();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class MaximumMotorCurrent : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    MaximumMotorCurrent();

    virtual ~MaximumMotorCurrent();

    void getParameter(quantity<current>& parameter) const;

    void setParameter(const quantity<current>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<current> upperLimit;

    quantity<current> lowerLimit;

    quantity<current> value;

    std::string name;

    ParameterType parameterType;

};
class MotorCoilResistance : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    MotorCoilResistance();

    virtual ~MotorCoilResistance();

    void getParameter(quantity<resistance>& parameter) const;

    void setParameter(const quantity<resistance>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<resistance> upperLimit;

    quantity<resistance> lowerLimit;

    quantity<resistance> value;

    std::string name;

    ParameterType parameterType;

};
class MotorControllerTimeout : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    MotorControllerTimeout();

    virtual ~MotorControllerTimeout();

    void getParameter(quantity<si::time>& parameter) const;

    void setParameter(const quantity<si::time>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<si::time> upperLimit;

    quantity<si::time> lowerLimit;

    quantity<si::time> value;

    std::string name;

    ParameterType parameterType;

};
class MotorPoles : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    MotorPoles();

    virtual ~MotorPoles();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class OperationalTime : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    OperationalTime();

    virtual ~OperationalTime();

    void getParameter(quantity<si::time>& parameter) const;

    void setParameter(const quantity<si::time>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<si::time> upperLimit;

    quantity<si::time> lowerLimit;

    quantity<si::time> value;

    std::string name;

    ParameterType parameterType;

};
class PIDControlTime : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    PIDControlTime();

    virtual ~PIDControlTime();

    void getParameter(quantity<si::time>& parameter) const;

    void setParameter(const quantity<si::time>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<si::time> upperLimit;

    quantity<si::time> lowerLimit;

    quantity<si::time> value;

    std::string name;

    ParameterType parameterType;

};
class ReversingEncoderDirection : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    ReversingEncoderDirection();

    virtual ~ReversingEncoderDirection();

    bool getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class SetEncoderCounterZeroAtNextNChannel : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    SetEncoderCounterZeroAtNextNChannel();

    virtual ~SetEncoderCounterZeroAtNextNChannel();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class SetEncoderCounterZeroAtNextSwitch : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    SetEncoderCounterZeroAtNextSwitch();

    virtual ~SetEncoderCounterZeroAtNextSwitch();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class SetEncoderCounterZeroOnlyOnce : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    SetEncoderCounterZeroOnlyOnce();

    virtual ~SetEncoderCounterZeroOnlyOnce();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class SineInitializationVelocity : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    SineInitializationVelocity();

    virtual ~SineInitializationVelocity();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class StopSwitchPolarity : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    StopSwitchPolarity();

    virtual ~StopSwitchPolarity();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class ThermalWindingTimeConstant : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    ThermalWindingTimeConstant();

    virtual ~ThermalWindingTimeConstant();

    void getParameter(quantity<si::time>& parameter) const;

    void setParameter(const quantity<si::time>& parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    quantity<si::time> upperLimit;

    quantity<si::time> lowerLimit;

    quantity<si::time> value;

    std::string name;

    ParameterType parameterType;

};

class MotorHaltedVelocity : public YouBotJointParameterPasswordProtected {
friend class YouBotJoint;
  public:
    MotorHaltedVelocity();

    virtual ~MotorHaltedVelocity();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value);


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType, const YouBotJointStorage& storage) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};

} // namespace youbot
#endif