joint_command_interface.h
Go to the documentation of this file.
1 // Copyright (C) 2012, hiDOF INC.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 // * Redistributions of source code must retain the above copyright notice,
7 // this list of conditions and the following disclaimer.
8 // * Redistributions in binary form must reproduce the above copyright
9 // notice, this list of conditions and the following disclaimer in the
10 // documentation and/or other materials provided with the distribution.
11 // * Neither the name of hiDOF, Inc. nor the names of its
12 // contributors may be used to endorse or promote products derived from
13 // this software without specific prior written permission.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
19 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25 // POSSIBILITY OF SUCH DAMAGE.
27 
29 
30 #ifndef HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
31 #define HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
32 
33 #include <cassert>
34 #include <string>
37 
38 namespace hardware_interface
39 {
40 
43 {
44 public:
46 
51  JointHandle(const JointStateHandle& js, double* cmd)
52  : JointStateHandle(js), cmd_(cmd)
53  {
54  if (!cmd_)
55  {
56  throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command data pointer is null.");
57  }
58  }
59 
60  void setCommand(double command) {assert(cmd_); *cmd_ = command;}
61  double getCommand() const {assert(cmd_); return *cmd_;}
62 
63 private:
64  double* cmd_;
65 };
66 
78 class JointCommandInterface : public HardwareResourceManager<JointHandle, ClaimResources> {};
79 
82 
85 
88 
89 }
90 
91 #endif
JointCommandInterface for commanding effort-based joints.
An exception related to a HardwareInterface.
JointHandle(const JointStateHandle &js, double *cmd)
JointCommandInterface for commanding velocity-based joints.
A handle used to read and command a single joint.
Hardware interface to support commanding an array of joints.
Base class for handling hardware resources.
JointCommandInterface for commanding position-based joints.


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Jun 7 2019 22:00:02