rsi_command.h

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/*
 * Author: Lars Tingelstad <lars.tingelstad@ntnu.no>
 */

#ifndef KUKA_RSI_HW_INTERFACE_RSI_COMMAND_
#define KUKA_RSI_HW_INTERFACE_RSI_COMMAND_

#include <tinyxml.h>
#include <vector>

namespace kuka_rsi_hw_interface
{

class RSICommand
{
public:
  RSICommand();
  RSICommand(std::vector<double> position_corrections, unsigned long long ipoc);
  std::string xml_doc;
};

RSICommand::RSICommand()
{
  // Intentionally empty
}

RSICommand::RSICommand(std::vector<double> joint_position_correction, unsigned long long ipoc)
{
  TiXmlDocument doc;
  TiXmlElement* root = new TiXmlElement("Sen");
  root->SetAttribute("Type", "ImFree");
  TiXmlElement* el = new TiXmlElement("AK");
  // Add string attribute
  el->SetAttribute("A1", std::to_string(joint_position_correction[0]));
  el->SetAttribute("A2", std::to_string(joint_position_correction[1]));
  el->SetAttribute("A3", std::to_string(joint_position_correction[2]));
  el->SetAttribute("A4", std::to_string(joint_position_correction[3]));
  el->SetAttribute("A5", std::to_string(joint_position_correction[4]));
  el->SetAttribute("A6", std::to_string(joint_position_correction[5]));

  root->LinkEndChild(el);
  el = new TiXmlElement("IPOC");
  el->LinkEndChild(new TiXmlText(std::to_string(ipoc)));
  root->LinkEndChild(el);
  doc.LinkEndChild(root);
  TiXmlPrinter printer;
  printer.SetStreamPrinting();
  doc.Accept(&printer);

  xml_doc = printer.Str();
}

} // namespace kuka_rsi_hw_interface

#endif