xarm_combined_hw.cpp

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/* Copyright 2020 UFACTORY Inc. All Rights Reserved.
 *
 * Software License Agreement (BSD License)
 *
 * Author: Jason Peng <jason@ufactory.cc>
 ============================================================================*/

#include "xarm_combined_hw.h"

namespace xarm_control
{
        bool XArmCombinedHW::need_reset()
        {
          std::vector<hardware_interface::RobotHWSharedPtr>::iterator robot_hw;
      for (robot_hw = robot_hw_list_.begin(); robot_hw != robot_hw_list_.end(); ++robot_hw)
      {
        xarm_control::XArmHW* xarm_hw_ptr = dynamic_cast<xarm_control::XArmHW *>((*robot_hw).get());
        if(xarm_hw_ptr->need_reset())
                return true;
      }
          return false;
        }
}