00001 00002 // Copyright (C) 2012, hiDOF INC. 00003 // Copyright (C) 2013, PAL Robotics S.L. 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 // * Redistributions of source code must retain the above copyright notice, 00008 // this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of hiDOF, Inc. nor the names of its 00013 // contributors may be used to endorse or promote products derived from 00014 // this software without specific prior written permission. 00015 // 00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00026 // POSSIBILITY OF SUCH DAMAGE. 00028 00029 #ifndef HARDWARE_INTERFACE_ACTUATOR_COMMAND_INTERFACE_H 00030 #define HARDWARE_INTERFACE_ACTUATOR_COMMAND_INTERFACE_H 00031 00032 #include <string> 00033 #include <hardware_interface/internal/hardware_resource_manager.h> 00034 #include <hardware_interface/actuator_state_interface.h> 00035 00036 namespace hardware_interface 00037 { 00038 00040 class ActuatorHandle : public ActuatorStateHandle 00041 { 00042 public: 00043 ActuatorHandle() : ActuatorStateHandle(), cmd_(0) {} 00044 00049 ActuatorHandle(const ActuatorStateHandle& as, double* cmd) 00050 : ActuatorStateHandle(as), cmd_(cmd) 00051 { 00052 if (!cmd_) 00053 { 00054 throw HardwareInterfaceException("Cannot create handle '" + as.getName() + "'. Command data pointer is null."); 00055 } 00056 } 00057 00058 void setCommand(double command) {assert(cmd_); *cmd_ = command;} 00059 double getCommand() const {assert(cmd_); return *cmd_;} 00060 00061 double* getCommandPtr() {return cmd_;} 00062 00063 private: 00064 double* cmd_; 00065 }; 00066 00076 class ActuatorCommandInterface : public HardwareResourceManager<ActuatorHandle> {}; 00077 00079 class EffortActuatorInterface : public ActuatorCommandInterface {}; 00080 00082 class VelocityActuatorInterface : public ActuatorCommandInterface {}; 00083 00085 class PositionActuatorInterface : public ActuatorCommandInterface {}; 00086 00087 } 00088 00089 #endif