.. _program_listing_file__tmp_ws_src_rt_manipulators_cpp_rt_manipulators_lib_include_hardware_joints.hpp:

Program Listing for File hardware_joints.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rt_manipulators_cpp_rt_manipulators_lib_include_hardware_joints.hpp>` (``/tmp/ws/src/rt_manipulators_cpp/rt_manipulators_lib/include/hardware_joints.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RT Corporation
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RT_MANIPULATORS_LIB_INCLUDE_HARDWARE_JOINTS_HPP_
   #define RT_MANIPULATORS_LIB_INCLUDE_HARDWARE_JOINTS_HPP_
   
   #include <map>
   #include <memory>
   #include <string>
   #include <thread>
   #include <vector>
   
   #include "joint.hpp"
   
   namespace hardware_joints {
   
   using group_name_t = std::string;
   using joint_name_t = std::string;
   using group_map_t = std::map<group_name_t, std::shared_ptr<joint::JointGroup>>;
   using dxl_id_t = uint8_t;
   using position_t = double;
   using velocity_t = double;
   using current_t = double;
   using voltage_t = double;
   using temperature_t = int8_t;
   
   // ハードウェアのジョイント情報を持つクラス
   class Joints{
    public:
     Joints() {}
     ~Joints() {}
     const group_map_t groups() const;
     void append_group(const group_name_t & group_name, const joint::JointGroup & group);
     void append_joint(const joint_name_t & joint_name, const joint::Joint & joint);
     std::shared_ptr<joint::JointGroup> group(const group_name_t & name);
     std::shared_ptr<joint::Joint> joint(const joint_name_t & name);
     std::shared_ptr<joint::Joint> joint(const dxl_id_t & id);
     bool has_group(const group_name_t & name);
     bool has_joint(const joint_name_t & name);
     bool has_joint(const dxl_id_t & id);
     bool get_position(const dxl_id_t & id, position_t & position);
     bool get_position(const joint_name_t & joint_name, position_t & position);
     bool get_positions(const group_name_t & group_name, std::vector<position_t> & positions);
     bool get_velocity(const dxl_id_t & id, velocity_t & velocity);
     bool get_velocity(const joint_name_t & joint_name, velocity_t & velocity);
     bool get_velocities(const group_name_t & group_name, std::vector<velocity_t> & velocities);
     bool get_current(const dxl_id_t & id, current_t & current);
     bool get_current(const joint_name_t & joint_name, current_t & current);
     bool get_currents(const group_name_t & group_name, std::vector<current_t>& currents);
     bool get_voltage(const dxl_id_t id, voltage_t & voltage);
     bool get_voltage(const joint_name_t & joint_name, voltage_t & voltage);
     bool get_voltages(const group_name_t & group_name, std::vector<voltage_t>& voltages);
     bool get_temperature(const dxl_id_t & id, temperature_t & temperature);
     bool get_temperature(const joint_name_t & joint_name, temperature_t & temperature);
     bool get_temperatures(const group_name_t & group_name, std::vector<temperature_t>& temperatures);
     bool get_max_position_limit(const dxl_id_t & id, position_t & max_position_limit);
     bool get_min_position_limit(const dxl_id_t & id, position_t & min_position_limit);
     bool set_position(const dxl_id_t & id, const position_t & position);
     bool set_position(const joint_name_t & joint_name, const position_t & position);
     bool set_positions(const group_name_t & group_name, const std::vector<position_t> & positions);
     bool set_velocity(const dxl_id_t & id, const velocity_t & velocity);
     bool set_velocity(const joint_name_t & joint_name, const velocity_t & velocity);
     bool set_velocities(const group_name_t & group_name, const std::vector<velocity_t>& velocities);
     bool set_current(const dxl_id_t & id, const current_t & current);
     bool set_current(const joint_name_t & joint_name, const current_t & current);
     bool set_currents(const group_name_t & group_name, const std::vector<current_t>& currents);
   
    private:
     group_map_t joint_groups_;
     std::map<joint_name_t, std::shared_ptr<joint::Joint>> all_joints_;
     std::map<dxl_id_t, std::shared_ptr<joint::Joint>> all_joints_ref_from_id_;
   };
   
   }  // namespace hardware_joints
   
   #endif  // RT_MANIPULATORS_LIB_INCLUDE_HARDWARE_JOINTS_HPP_