joint_handle.h
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00001 /*
00002  * Copyright (c) 2014-2015, Fetch Robotics Inc.
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 Fetch Robotics Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
00026  * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027  */
00028 
00029 // Author: Michael Ferguson
00030 
00031 #ifndef ROBOT_CONTROLLERS_INTERFACE_JOINT_HANDLE_H
00032 #define ROBOT_CONTROLLERS_INTERFACE_JOINT_HANDLE_H
00033 
00034 #include <robot_controllers_interface/handle.h>
00035 
00036 namespace robot_controllers
00037 {
00038 
00043 class JointHandle : public Handle
00044 {
00045 public:
00046   JointHandle()
00047   {
00048   }
00049 
00051   virtual ~JointHandle()
00052   {
00053   }
00054 
00061   virtual void setPosition(double position, double velocity, double effort) = 0;
00062 
00068   virtual void setVelocity(double velocity, double effort) = 0;
00069 
00074   virtual void setEffort(double effort) = 0;
00075 
00077   virtual double getPosition() = 0;
00078 
00080   virtual double getVelocity() = 0;
00081 
00083   virtual double getEffort() = 0;
00084 
00086   virtual bool isContinuous() = 0;
00087 
00089   virtual double getPositionMin() = 0;
00090 
00092   virtual double getPositionMax() = 0;
00093 
00095   virtual double getVelocityMax() = 0;
00096 
00098   virtual double getEffortMax() = 0;
00099 
00101   virtual std::string getName() = 0;
00102 
00104   virtual void reset() = 0;
00105 
00106 private:
00107   // No copy
00108   JointHandle(const JointHandle&);
00109   JointHandle& operator=(const JointHandle&);
00110 };
00111 
00112 typedef boost::shared_ptr<JointHandle> JointHandlePtr;
00113 
00114 }  // namespace robot_controllers
00115 
00116 #endif  // ROBOT_CONTROLLERS_INTERFACE_JOINT_HANDLE_H


robot_controllers_interface
Author(s): Michael Ferguson
autogenerated on Thu Jun 6 2019 21:50:24