joint_state_interface.h

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// Copyright (C) 2012, hiDOF INC.
//
// Redistribution and use in source and binary forms, with or without
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//     this list of conditions and the following disclaimer.
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//     contributors may be used to endorse or promote products derived from
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#ifndef HARDWARE_INTERFACE_JOINT_STATE_INTERFACE_H
#define HARDWARE_INTERFACE_JOINT_STATE_INTERFACE_H

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

namespace hardware_interface
{

class JointStateHandle
{
public:
  JointStateHandle() : name_(), pos_(0), vel_(0), eff_(0) {}

  JointStateHandle(const std::string& name, const double* pos, const double* vel, const double* eff)
    : name_(name), pos_(pos), vel_(vel), eff_(eff)
  {
    if (!pos)
    {
      throw HardwareInterfaceException("Cannot create handle '" + name + "'. Position data pointer is null.");
    }
    if (!vel)
    {
      throw HardwareInterfaceException("Cannot create handle '" + name + "'. Velocity data pointer is null.");
    }
    if (!eff)
    {
      throw HardwareInterfaceException("Cannot create handle '" + name + "'. Effort data pointer is null.");
    }
  }

  std::string getName() const {return name_;}
  double getPosition()  const {assert(pos_); return *pos_;}
  double getVelocity()  const {assert(vel_); return *vel_;}
  double getEffort()    const {assert(eff_); return *eff_;}

private:
  std::string name_;
  const double* pos_;
  const double* vel_;
  const double* eff_;
};

class JointStateInterface : public HardwareResourceManager<JointStateHandle> {};

}

#endif