00001 /* 00002 * Copyright (c) 2010, Robot Control and Pattern Recognition Group, Warsaw University of Technology. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Robot Control and Pattern Recognition Group, 00014 * Warsaw University of Technology nor the names of its contributors may 00015 * be used to endorse or promote products derived from this software 00016 * without specific prior written permission. 00017 * 00018 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00021 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00022 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00023 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00024 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00025 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00026 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00027 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00028 * POSSIBILITY OF SUCH DAMAGE. 00029 */ 00030 00031 /* 00032 * FakeServo.h 00033 * 00034 * Created on: 22-09-2010 00035 * Author: konrad 00036 */ 00037 00038 #ifndef FAKESERVO_H_ 00039 #define FAKESERVO_H_ 00040 00041 #include <string> 00042 #include <vector> 00043 00044 #include <rtt/TaskContext.hpp> 00045 #include <rtt/Port.hpp> 00046 #include <rtt/Property.hpp> 00047 00048 class FakeServo: public RTT::TaskContext { 00049 public: 00050 FakeServo(const std::string& name); 00051 virtual ~FakeServo(); 00052 00053 bool configureHook(); 00054 bool startHook(); 00055 void updateHook(); 00056 protected: 00057 RTT::InputPort<std::vector<double> > cmd_jnt_pos_port_; 00058 00059 RTT::OutputPort<std::vector<double> > msr_jnt_pos_port_; 00060 RTT::OutputPort<std::vector<double> > des_jnt_pos_port_; 00061 00062 RTT::OutputPort<double> command_period_port_; 00063 00064 RTT::Property<int> number_of_joints_prop_; 00065 private: 00066 std::vector<double> jnt_pos_; 00067 00068 std::vector<double> initial_pos_; 00069 00070 double dt_; 00071 00072 unsigned int number_of_joints_; 00073 }; 00074 00075 #endif /* FAKESERVO_H_ */