joint_command_interface.h
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27 
29 
30 #ifndef HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
31 #define HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
32 
33 #include <cassert>
34 #include <string>
37 
38 namespace hardware_interface
39 {
40 
43 {
44 public:
46 
51  JointHandle(const JointStateHandle& js, double* cmd)
52  : JointStateHandle(js), cmd_(cmd)
53  {
54  if (!cmd_)
55  {
56  throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command data pointer is null.");
57  }
58  }
59 
60  void setCommand(double command) {assert(cmd_); *cmd_ = command;}
61  double getCommand() const {assert(cmd_); return *cmd_;}
62 
63 private:
64  double* cmd_;
65 };
66 
78 class JointCommandInterface : public HardwareResourceManager<JointHandle, ClaimResources> {};
79 
82 
85 
88 
89 }
90 
91 #endif
JointCommandInterface for commanding effort-based joints.
An exception related to a HardwareInterface.
JointHandle(const JointStateHandle &js, double *cmd)
JointCommandInterface for commanding velocity-based joints.
A handle used to read and command a single joint.
Hardware interface to support commanding an array of joints.
Base class for handling hardware resources.
JointCommandInterface for commanding position-based joints.


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Sun Dec 1 2019 03:17:21