joint_state_observer_oodl.cpp
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00001 /******************************************************************************
00002  * Copyright (c) 2011
00003  * GPS GmbH
00004  *
00005  * Author:
00006  * Alexey Zakharov
00007  *
00008  *
00009  * This software is published under a dual-license: GNU Lesser General Public
00010  * License LGPL 2.1 and BSD license. The dual-license implies that users of this
00011  * code may choose which terms they prefer.
00012  *
00013  * Redistribution and use in source and binary forms, with or without
00014  * modification, are permitted provided that the following conditions are met:
00015  *
00016  * * Redistributions of source code must retain the above copyright
00017  * notice, this list of conditions and the following disclaimer.
00018  * * Redistributions in binary form must reproduce the above copyright
00019  * notice, this list of conditions and the following disclaimer in the
00020  * documentation and/or other materials provided with the distribution.
00021  * * Neither the name of GPS GmbH nor the names of its
00022  * contributors may be used to endorse or promote products derived from
00023  * this software without specific prior written permission.
00024  *
00025  * This program is free software: you can redistribute it and/or modify
00026  * it under the terms of the GNU Lesser General Public License LGPL as
00027  * published by the Free Software Foundation, either version 2.1 of the
00028  * License, or (at your option) any later version or the BSD license.
00029  *
00030  * This program is distributed in the hope that it will be useful,
00031  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00032  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00033  * GNU Lesser General Public License LGPL and the BSD license for more details.
00034  *
00035  * You should have received a copy of the GNU Lesser General Public
00036  * License LGPL and BSD license along with this program.
00037  *
00038  ******************************************************************************/
00039 
00040 #include <youbot_oodl/joint_state_observer_oodl.h>
00041 #include <youbot_oodl/YouBotOODLWrapper.h>
00042 
00043 namespace youBot
00044 {
00045 
00046 JointStateObserverOODL::JointStateObserverOODL(YouBotOODLWrapper* youBot, int youBotArmIndex)
00047 {
00048   this->youBot = youBot;
00049   this->youBotArmIndex = youBotArmIndex;
00050 }
00051 
00052 JointStateObserverOODL::JointStateObserverOODL(const JointStateObserverOODL& orig) :
00053     youBot(orig.youBot), youBotArmIndex(orig.youBotArmIndex)
00054 {
00055 
00056 }
00057 
00058 JointStateObserverOODL::~JointStateObserverOODL()
00059 {
00060 
00061 }
00062 
00063 void JointStateObserverOODL::updatePosition(const brics_actuator::JointPositions& positions)
00064 {
00065   brics_actuator::JointPositionsConstPtr jointPositionsConstPtr(new brics_actuator::JointPositions(positions));
00066   youBot->armPositionsCommandCallback(jointPositionsConstPtr, youBotArmIndex);
00067 
00068 }
00069 
00070 void JointStateObserverOODL::updateVelocity(const brics_actuator::JointVelocities& velocities)
00071 {
00072 
00073   brics_actuator::JointVelocitiesConstPtr jointVelocitiesConstPtr(new brics_actuator::JointVelocities(velocities));
00074   youBot->armVelocitiesCommandCallback(jointVelocitiesConstPtr, youBotArmIndex);
00075 
00076 }
00077 
00078 void JointStateObserverOODL::updateTorque(const brics_actuator::JointTorques& torques)
00079 {
00080 
00081 }
00082 
00083 }
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youbot_oodl
Author(s): Sebastian Blumenthal
autogenerated on Fri Jul 26 2013 12:00:42