YouBotJointParameter.hpp

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#ifndef YOUBOT_YOUBOTJOINTPARAMETER_H
#define YOUBOT_YOUBOTJOINTPARAMETER_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include <boost/limits.hpp>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Time.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
#include <youbot_driver/generic-joint/JointParameter.hpp>
#include <youbot_driver/youbot/YouBotJointParameterReadOnly.hpp>
#include <youbot_driver/youbot/ProtocolDefinitions.hpp>
#include <youbot_driver/youbot/YouBotSlaveMsg.hpp>
#include <youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp>
#include <youbot_driver/youbot/YouBotJointStorage.hpp>
namespace youbot
{

enum CalibrationDirection
{
  POSITIV, NEGATIV

};
class YouBotApiJointParameter : public JointParameter
{
  friend class YouBotJoint;
protected:
  YouBotApiJointParameter();

public:
  virtual ~YouBotApiJointParameter();

  virtual void toString(std::string& value) = 0;

protected:
  virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                                   const YouBotJointStorage& storage) const = 0;

  virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage) = 0;

  virtual std::string getName() const = 0;

  virtual ParameterType getType() const = 0;

  std::string name;

  ParameterType parameterType;

};
class YouBotJointParameter : public YouBotJointParameterReadOnly
{
  friend class YouBotJoint;
protected:
  YouBotJointParameter();

public:
  virtual ~YouBotJointParameter();

  virtual void toString(std::string& value) = 0;

protected:
  virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                                   const YouBotJointStorage& storage) const = 0;

  virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage) = 0;

  virtual std::string getName() const = 0;

  virtual ParameterType getType() const = 0;

  std::string name;

  ParameterType parameterType;

};
class JointName : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  JointName();

  virtual ~JointName();

  void getParameter(std::string& parameter) const;

  void setParameter(const std::string parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  std::string value;

  std::string name;

  ParameterType parameterType;

};
class InitializeJoint : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  InitializeJoint();

  virtual ~InitializeJoint();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class CalibrateJoint : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  CalibrateJoint();

  virtual ~CalibrateJoint();

  void getParameter(bool& doCalibration, CalibrationDirection& calibrationDirection,
                    quantity<si::current>& maxCurrent) const;

  void setParameter(const bool doCalibration, CalibrationDirection calibrationDirection,
                    const quantity<si::current>& maxCurrent);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool doCalibration;

  std::string name;

  ParameterType parameterType;

  CalibrationDirection calibrationDirection;

  quantity<si::current> maxCurrent;

};
class FirmwareVersion : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  FirmwareVersion();

  virtual ~FirmwareVersion();

  void getParameter(int& controllerType, std::string& firmwareVersion) const;

  void setParameter(const int controllerType, const std::string firmwareVersion);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int controllerType;

  std::string firmwareVersion;

  std::string name;

  ParameterType parameterType;

};
class GearRatio : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  GearRatio();

  virtual ~GearRatio();

  void getParameter(double& parameter) const;

  void setParameter(const double parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  double value;

  std::string name;

  ParameterType parameterType;

};
class EncoderTicksPerRound : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  EncoderTicksPerRound();

  virtual ~EncoderTicksPerRound();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class InverseMovementDirection : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  InverseMovementDirection();

  virtual ~InverseMovementDirection();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class JointLimits : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  JointLimits();

  virtual ~JointLimits();

  void getParameter(int& lowerLimit, int& upperLimit, bool& areLimitsActive) const;

  void setParameter(const int lowerLimit, const int upperLimit, const bool activateLimits);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int lowerLimit;

  int upperLimit;

  std::string name;

  ParameterType parameterType;

  bool areLimitsActive;

};
class JointLimitsRadian : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  JointLimitsRadian();

  virtual ~JointLimitsRadian();

  void getParameter(quantity<plane_angle>& lowerLimit, quantity<plane_angle>& upperLimit, bool& areLimitsActive) const;

  void setParameter(const quantity<plane_angle>& lowerLimit, const quantity<plane_angle>& upperLimit,
                    const bool activateLimits);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<plane_angle> lowerLimit;

  quantity<plane_angle> upperLimit;

  std::string name;

  ParameterType parameterType;

  bool areLimitsActive;

};
class TorqueConstant : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  TorqueConstant();

  virtual ~TorqueConstant();

  void getParameter(double& parameter) const;

  void setParameter(const double parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const
  {
  }
  ;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage)
  {
  }
  ;

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  double value;

  std::string name;

  ParameterType parameterType;

};
class MaximumPositioningVelocity : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  MaximumPositioningVelocity();

  virtual ~MaximumPositioningVelocity();

  void getParameter(quantity<angular_velocity>& parameter) const;

  void setParameter(const quantity<angular_velocity>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<angular_velocity> upperLimit;

  quantity<angular_velocity> lowerLimit;

  quantity<angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class MotorAcceleration : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  MotorAcceleration();

  virtual ~MotorAcceleration();

  void getParameter(quantity<angular_acceleration>& parameter) const;

  void setParameter(const quantity<angular_acceleration>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<angular_acceleration> upperLimit;

  quantity<angular_acceleration> lowerLimit;

  quantity<angular_acceleration> value;

  std::string name;

  ParameterType parameterType;

};
class RampGeneratorSpeedAndPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  RampGeneratorSpeedAndPositionControl();

  virtual ~RampGeneratorSpeedAndPositionControl();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class PositionControlSwitchingThreshold : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PositionControlSwitchingThreshold();

  virtual ~PositionControlSwitchingThreshold();

  void getParameter(quantity<angular_velocity>& parameter) const;

  void setParameter(const quantity<angular_velocity>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<angular_velocity> upperLimit;

  quantity<angular_velocity> lowerLimit;

  quantity<angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};

class SpeedControlSwitchingThreshold : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  SpeedControlSwitchingThreshold();

  virtual ~SpeedControlSwitchingThreshold();

  void getParameter(quantity<angular_velocity>& parameter) const;

  void setParameter(const quantity<angular_velocity>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<angular_velocity> upperLimit;

  quantity<angular_velocity> lowerLimit;

  quantity<angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class VelocityThresholdForHallFX : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  VelocityThresholdForHallFX();

  virtual ~VelocityThresholdForHallFX();

  void getParameter(quantity<angular_velocity>& parameter) const;

  void setParameter(const quantity<angular_velocity>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<angular_velocity> upperLimit;

  quantity<angular_velocity> lowerLimit;

  quantity<angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class PParameterFirstParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PParameterFirstParametersPositionControl();

  virtual ~PParameterFirstParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IParameterFirstParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IParameterFirstParametersPositionControl();

  virtual ~IParameterFirstParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class DParameterFirstParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  DParameterFirstParametersPositionControl();

  virtual ~DParameterFirstParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IClippingParameterFirstParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IClippingParameterFirstParametersPositionControl();

  virtual ~IClippingParameterFirstParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class PParameterFirstParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PParameterFirstParametersSpeedControl();

  virtual ~PParameterFirstParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IParameterFirstParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IParameterFirstParametersSpeedControl();

  virtual ~IParameterFirstParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class DParameterFirstParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  DParameterFirstParametersSpeedControl();

  virtual ~DParameterFirstParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IClippingParameterFirstParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IClippingParameterFirstParametersSpeedControl();

  virtual ~IClippingParameterFirstParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class PParameterSecondParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PParameterSecondParametersPositionControl();

  virtual ~PParameterSecondParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IParameterSecondParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IParameterSecondParametersPositionControl();

  virtual ~IParameterSecondParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class DParameterSecondParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  DParameterSecondParametersPositionControl();

  virtual ~DParameterSecondParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IClippingParameterSecondParametersPositionControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IClippingParameterSecondParametersPositionControl();

  virtual ~IClippingParameterSecondParametersPositionControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class PParameterSecondParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PParameterSecondParametersSpeedControl();

  virtual ~PParameterSecondParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IParameterSecondParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IParameterSecondParametersSpeedControl();

  virtual ~IParameterSecondParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class DParameterSecondParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  DParameterSecondParametersSpeedControl();

  virtual ~DParameterSecondParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IClippingParameterSecondParametersSpeedControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IClippingParameterSecondParametersSpeedControl();

  virtual ~IClippingParameterSecondParametersSpeedControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class PParameterCurrentControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PParameterCurrentControl();

  virtual ~PParameterCurrentControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IParameterCurrentControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IParameterCurrentControl();

  virtual ~IParameterCurrentControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class DParameterCurrentControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  DParameterCurrentControl();

  virtual ~DParameterCurrentControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class IClippingParameterCurrentControl : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  IClippingParameterCurrentControl();

  virtual ~IClippingParameterCurrentControl();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class MaximumVelocityToSetPosition : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  MaximumVelocityToSetPosition();

  virtual ~MaximumVelocityToSetPosition();

  void getParameter(quantity<angular_velocity>& parameter) const;

  void setParameter(const quantity<angular_velocity>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<angular_velocity> upperLimit;

  quantity<angular_velocity> lowerLimit;

  quantity<angular_velocity> value;

  std::string name;

  ParameterType parameterType;

};
class PositionTargetReachedDistance : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  PositionTargetReachedDistance();

  virtual ~PositionTargetReachedDistance();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class ClearI2tExceededFlag : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  ClearI2tExceededFlag();

  virtual ~ClearI2tExceededFlag();

  void getParameter() const;

  void setParameter();

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};

class ClearMotorControllerTimeoutFlag : public YouBotJointParameter
{
  friend class YouBotJoint;
public:
  ClearMotorControllerTimeoutFlag();

  virtual ~ClearMotorControllerTimeoutFlag();

  bool getParameter() const;

  void setParameter();

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class PParameterTrajectoryControl : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  PParameterTrajectoryControl();

  virtual ~PParameterTrajectoryControl();

  void getParameter(double& parameter) const;

  void setParameter(const double parameter);

  void toString(std::string& value);

private:
  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  double upperLimit;

  double lowerLimit;

  double value;

  std::string name;

  ParameterType parameterType;

};
class IParameterTrajectoryControl : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  IParameterTrajectoryControl();

  virtual ~IParameterTrajectoryControl();

  void getParameter(double& parameter) const;

  void setParameter(const double parameter);

  void toString(std::string& value);

private:
  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  double upperLimit;

  double lowerLimit;

  double value;

  std::string name;

  ParameterType parameterType;

};
class DParameterTrajectoryControl : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  DParameterTrajectoryControl();

  virtual ~DParameterTrajectoryControl();

  void getParameter(double& parameter) const;

  void setParameter(const double parameter);

  void toString(std::string& value);

private:
  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  double upperLimit;

  double lowerLimit;

  double value;

  std::string name;

  ParameterType parameterType;

};
class IClippingParameterTrajectoryControl : public YouBotApiJointParameter
{
  friend class YouBotJoint;
public:
  IClippingParameterTrajectoryControl();

  virtual ~IClippingParameterTrajectoryControl();

  void getParameter(double& parameter) const;

  void setParameter(const double parameter);

  void toString(std::string& value);

private:
  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  double upperLimit;

  double lowerLimit;

  double value;

  std::string name;

  ParameterType parameterType;

};

} // namespace youbot
#endif