analogue_to_effort.cpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 *
 * This library 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 for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#include "sr_ronex_transmissions/mapping/general_io/analogue_to_effort.hpp"
#include <ros_ethercat_model/robot_state.hpp>
#include <boost/lexical_cast.hpp>

namespace ronex
{
namespace mapping
{
namespace general_io
{
AnalogueToEffort::AnalogueToEffort(TiXmlElement* mapping_el, ros_ethercat_model::RobotState* robot)
  : AnalogueToPosition(mapping_el, robot)
{
}

void AnalogueToEffort::propagateFromRonex(ros_ethercat_model::JointState *js)
{
  if ( !is_initialized_ )
    return;

  if ( check_pin_in_bound_() )
  {
    js->effort_ = compute_scaled_data_();
  }
}
}  // namespace general_io
}  // namespace mapping
}  // namespace ronex
/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/