posvelacc_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:
//   * 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 hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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#pragma once


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

namespace hardware_interface
{

class PosVelAccJointHandle : public PosVelJointHandle
{
public:
  PosVelAccJointHandle() = default;

  PosVelAccJointHandle(const JointStateHandle& js, double* cmd_pos, double* cmd_vel, double* cmd_acc)
    : PosVelJointHandle(js, cmd_pos, cmd_vel), cmd_acc_(cmd_acc)
  {
    if (!cmd_acc)
    {
      throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command acceleration data pointer is null.");
    }
  }

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

  void setCommandAcceleration(double cmd_acc) {assert(cmd_acc_); *cmd_acc_ = cmd_acc;}
  double getCommandAcceleration() const {assert(cmd_acc_); return *cmd_acc_;}

private:
  double* cmd_acc_ = {nullptr};
};


class PosVelAccJointInterface : public HardwareResourceManager<PosVelAccJointHandle, ClaimResources> {};

}