joint_command_interface.h
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27 
29 
30 #pragma once
31 
32 
33 #include <cassert>
34 #include <string>
37 
38 namespace hardware_interface
39 {
40 
43 {
44 public:
45  JointHandle() = default;
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  const double* getCommandPtr() const {assert(cmd_); return cmd_;}
63 
64 private:
65  double* cmd_ = {nullptr};
66 };
67 
79 class JointCommandInterface : public HardwareResourceManager<JointHandle, ClaimResources> {};
80 
83 
86 
89 
90 }
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.
A handle used to read the state of a single joint. Currently, position, velocity and effort fields ar...
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 May 10 2020 03:14:46