joint_handle.h

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/*
 * Copyright (c) 2014-2015, Fetch Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fetch Robotics Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// Author: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_INTERFACE_JOINT_HANDLE_H
#define ROBOT_CONTROLLERS_INTERFACE_JOINT_HANDLE_H

#include <robot_controllers_interface/handle.h>

namespace robot_controllers
{

class JointHandle : public Handle
{
public:
  JointHandle()
  {
  }

  virtual ~JointHandle()
  {
  }

  virtual void setPosition(double position, double velocity, double effort) = 0;

  virtual void setVelocity(double velocity, double effort) = 0;

  virtual void setEffort(double effort) = 0;

  virtual double getPosition() = 0;

  virtual double getVelocity() = 0;

  virtual double getEffort() = 0;

  virtual bool isContinuous() = 0;

  virtual double getPositionMin() = 0;

  virtual double getPositionMax() = 0;

  virtual double getVelocityMax() = 0;

  virtual double getEffortMax() = 0;

  virtual std::string getName() = 0;

  virtual void reset() = 0;

private:
  // No copy
  JointHandle(const JointHandle&);
  JointHandle& operator=(const JointHandle&);
};

typedef boost::shared_ptr<JointHandle> JointHandlePtr;

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_INTERFACE_JOINT_HANDLE_H