actuator_command_interface.h
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1 // Copyright (C) 2012, hiDOF INC.
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28 
29 #pragma once
30 
31 
32 #include <string>
35 
37 {
38 
41 {
42 public:
43  ActuatorHandle() = default;
44 
49  ActuatorHandle(const ActuatorStateHandle& as, double* cmd)
50  : ActuatorStateHandle(as), cmd_(cmd)
51  {
52  if (!cmd_)
53  {
54  throw HardwareInterfaceException("Cannot create handle '" + as.getName() + "'. Command data pointer is null.");
55  }
56  }
57 
58  void setCommand(double command) {assert(cmd_); *cmd_ = command;}
59  double getCommand() const {assert(cmd_); return *cmd_;}
60 
61  double* getCommandPtr() {return cmd_;}
62 
63 private:
64  double* cmd_ = {nullptr};
65 };
66 
76 class ActuatorCommandInterface : public HardwareResourceManager<ActuatorHandle> {};
77 
80 
83 
86 
87 }
ActuatorCommandInterface for commanding velocity-based actuators
An exception related to a HardwareInterface.
A handle used to read and command a single actuator.
ActuatorCommandInterface for commanding position-based actuators
ActuatorCommandInterface for commanding effort-based actuators
ActuatorHandle(const ActuatorStateHandle &as, double *cmd)
A handle used to read the state of a single actuator. Currently, position, velocity and effort fields...
Hardware interface to support commanding an array of actuators.
Base class for handling hardware resources.


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Sun May 10 2020 03:14:46