joint_command_interface.h
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00001 
00002 // Copyright (C) 2012, hiDOF INC.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of hiDOF, Inc. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #ifndef HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
00031 #define HARDWARE_INTERFACE_JOINT_COMMAND_INTERFACE_H
00032 
00033 #include <cassert>
00034 #include <string>
00035 #include <hardware_interface/internal/hardware_resource_manager.h>
00036 #include <hardware_interface/joint_state_interface.h>
00037 
00038 namespace hardware_interface
00039 {
00040 
00042 class JointHandle : public JointStateHandle
00043 {
00044 public:
00045   JointHandle() : JointStateHandle(), cmd_(0) {}
00046 
00051   JointHandle(const JointStateHandle& js, double* cmd)
00052     : JointStateHandle(js), cmd_(cmd)
00053   {
00054     if (!cmd_)
00055     {
00056       throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command data pointer is null.");
00057     }
00058   }
00059 
00060   void setCommand(double command) {assert(cmd_); *cmd_ = command;}
00061   double getCommand() const {assert(cmd_); return *cmd_;}
00062 
00063 private:
00064   double* cmd_;
00065 };
00066 
00078 class JointCommandInterface : public HardwareResourceManager<JointHandle, ClaimResources> {};
00079 
00081 class EffortJointInterface : public JointCommandInterface {};
00082 
00084 class VelocityJointInterface : public JointCommandInterface {};
00085 
00087 class PositionJointInterface : public JointCommandInterface {};
00088 
00089 }
00090 
00091 #endif


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Thu Dec 1 2016 03:45:48