cartesian_state_handle.h

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// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2020 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
 
//----------------------------------------------------------------------
//----------------------------------------------------------------------
 
#pragma once
 
#include <geometry_msgs/Accel.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Twist.h>
#include <hardware_interface/hardware_interface.h>
#include <hardware_interface/internal/hardware_resource_manager.h>
 
namespace ros_controllers_cartesian
{
class CartesianStateHandle
{
public:
  CartesianStateHandle() = default;
  CartesianStateHandle(const std::string& ref_frame_id, const std::string& frame_id, const geometry_msgs::Pose* pose,
                       const geometry_msgs::Twist* twist, const geometry_msgs::Accel* accel,
                       const geometry_msgs::Accel* jerk)
    : frame_id_(frame_id), ref_frame_id_(ref_frame_id), pose_(pose), twist_(twist), accel_(accel), jerk_(jerk)
  {
    if (!pose)
    {
      throw hardware_interface::HardwareInterfaceException("Cannot create Cartesian handle for frame '" + frame_id_ +
                                                           "'. Pose data pointer is null.");
    }
    if (!twist)
    {
      throw hardware_interface::HardwareInterfaceException("Cannot create Cartesian handle for frame '" + frame_id_ +
                                                           "'. Twist data pointer is null.");
    }
    if (!accel)
    {
      throw hardware_interface::HardwareInterfaceException("Cannot create Cartesian handle for frame '" + frame_id_ +
                                                           "'. Accel data pointer is null.");
    }
    if (!jerk)
    {
      throw hardware_interface::HardwareInterfaceException("Cannot create Cartesian handle for frame '" + frame_id_ +
                                                           "'. Jerk data pointer is null.");
    }
  }
  virtual ~CartesianStateHandle() = default;
 
  std::string getName() const
  {
    return frame_id_;
  }
  geometry_msgs::Pose getPose() const
  {
    assert(pose_);
    return *pose_;
  }
  geometry_msgs::Twist getTwist() const
  {
    assert(twist_);
    return *twist_;
  }
  geometry_msgs::Accel getAccel() const
  {
    assert(accel_);
    return *accel_;
  }
  geometry_msgs::Accel getJerk() const
  {
    assert(jerk_);
    return *jerk_;
  }
 
private:
  std::string frame_id_;
  std::string ref_frame_id_;
  const geometry_msgs::Pose* pose_;
  const geometry_msgs::Twist* twist_;
  const geometry_msgs::Accel* accel_;
  const geometry_msgs::Accel* jerk_;
};
 
class CartesianStateInterface : public hardware_interface::HardwareResourceManager<CartesianStateHandle>
{
};
}  // namespace ros_controllers_cartesian