00001 00002 // Copyright (C) 2013, PAL Robotics S.L. 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // * Redistributions of source code must retain the above copyright notice, 00007 // this list of conditions and the following disclaimer. 00008 // * Redistributions in binary form must reproduce the above copyright 00009 // notice, this list of conditions and the following disclaimer in the 00010 // documentation and/or other materials provided with the distribution. 00011 // * Neither the name of hiDOF, Inc. nor the names of its 00012 // contributors may be used to endorse or promote products derived from 00013 // this software without specific prior written permission. 00014 // 00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 // POSSIBILITY OF SUCH DAMAGE. 00027 00029 00030 #ifndef HARDWARE_INTERFACE_FORCE_CONTROL_SENSOR_INTERFACE_H 00031 #define HARDWARE_INTERFACE_FORCE_CONTROL_SENSOR_INTERFACE_H 00032 00033 #include <hardware_interface/internal/hardware_resource_manager.h> 00034 #include <string> 00035 00036 namespace hardware_interface 00037 { 00038 00040 class ForceTorqueSensorHandle 00041 { 00042 public: 00043 ForceTorqueSensorHandle() : name_(""), frame_id_(""), force_(0), torque_(0) {} 00044 00052 ForceTorqueSensorHandle(const std::string& name, 00053 const std::string& frame_id, 00054 double* force, 00055 double* torque) 00056 : name_(name), 00057 frame_id_(frame_id), 00058 force_(force), 00059 torque_(torque) 00060 {} 00061 00062 std::string getName() const {return name_;} 00063 std::string getFrameId() const {return frame_id_;} 00064 const double* getForce() const {return force_;} 00065 const double* getTorque() const {return torque_;} 00066 00067 private: 00068 std::string name_; 00069 std::string frame_id_; 00070 double* force_; 00071 double* torque_; 00072 }; 00073 00075 class ForceTorqueSensorInterface : public HardwareResourceManager<ForceTorqueSensorHandle> {}; 00076 00077 } 00078 00079 #endif // HARDWARE_INTERFACE_FORCE_CONTROL_SENSOR_INTERFACE_H