joint_state_observer.cpp

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/******************************************************************************
 * Copyright (c) 2011
 * GPS GmbH
 *
 * Author:
 * Alexey Zakharov
 *
 *
 * This software 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 GPS GmbH 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 <joint_state_observer.h>
#include <YouBotOODLWrapper.h>


namespace youBot
{

JointStateObserverOODL::JointStateObserverOODL(YouBotOODLWrapper* youBot, int youBotArmIndex)
{

  this->youBot = youBot;
  this->youBotArmIndex = youBotArmIndex;
}

JointStateObserverOODL::JointStateObserverOODL(const JointStateObserverOODL& orig) :
    youBot(orig.youBot), youBotArmIndex(orig.youBotArmIndex)
{

}

JointStateObserverOODL::~JointStateObserverOODL()
{

}

void JointStateObserverOODL::updatePosition(const brics_actuator::JointPositions& positions)
{

  brics_actuator::JointPositionsConstPtr jointPositionsConstPtr(new brics_actuator::JointPositions(positions));
  youBot->armPositionsCommandCallback(jointPositionsConstPtr, youBotArmIndex);
}

void JointStateObserverOODL::updateVelocity(const brics_actuator::JointVelocities& velocities)
{

  brics_actuator::JointVelocitiesConstPtr jointVelocitiesConstPtr(new brics_actuator::JointVelocities(velocities));
  youBot->armVelocitiesCommandCallback(jointVelocitiesConstPtr, youBotArmIndex);


}

void JointStateObserverOODL::updateTorque(const brics_actuator::JointTorques& torques)
{

}

}