JointCommandRigid.h

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#ifndef JOINTCOMMANDRIGID_H_
#define JOINTCOMMANDRIGID_H_

#include "robodyn_mechanisms/JointCommandInterface.h"
#include "robot_instance/StringUtilities.h"

class JointCommandRigid : public JointCommandInterface
{
public:
    JointCommandRigid(const std::string& mechanism, IoFunctions ioFunctions);
    virtual ~JointCommandRigid();

    sensor_msgs::JointState           getSimpleMeasuredState();
    sensor_msgs::JointState           getCompleteMeasuredState();
    r2_msgs::JointCommand getCommandedState();
    void setCommand(r2_msgs::JointCommand msg, r2_msgs::JointControlData);
    void updateMeasuredState(r2_msgs::JointControlData msg);
    void setFaultState();

    r2_msgs::JointCapability getCapability();
    void loadCoeffs();

protected:

    std::string jointRoboDynJointName;
    std::string encoderRoboDynJointName;

    std::string jointPositionStatusElement;
    std::string encoderPositionStatusElement;

    std::string jointVelocityStatusElement;
    std::string encoderVelocityStatusElement;

    std::string desiredPositionCommandElement;
    std::string desiredPositionVelocityLimitCommandElement;
    std::string brakePwmCommandElement;
    std::string motComLimitCommandElement;

    double jointKinematicOffset;
    double        jointGearRatio;

    std::string encoderName;

    std::vector<double> positionVals;
    std::vector<double> velocityVals;
    std::vector<double> effortVals;

    unsigned int completeMessageSize;
};

#endif /* JOINTCOMMANDSERIESELASTIC_H_ */