posvelacc_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_POSVELACC_COMMAND_INTERFACE_H
00031 #define HARDWARE_INTERFACE_POSVELACC_COMMAND_INTERFACE_H
00032 
00033 #include <cassert>
00034 #include <string>
00035 #include <hardware_interface/internal/hardware_resource_manager.h>
00036 #include <hardware_interface/posvel_command_interface.h>
00037 
00038 namespace hardware_interface
00039 {
00040 
00042 class PosVelAccJointHandle : public PosVelJointHandle
00043 {
00044 public:
00045   PosVelAccJointHandle() : PosVelJointHandle(), cmd_acc_(0) {}
00046 
00053   PosVelAccJointHandle(const JointStateHandle& js, double* cmd_pos, double* cmd_vel, double* cmd_acc)
00054     : PosVelJointHandle(js, cmd_pos, cmd_vel), cmd_acc_(cmd_acc)
00055   {
00056     if (!cmd_acc)
00057     {
00058       throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command acceleration data pointer is null.");
00059     }
00060   }
00061 
00062   void setCommand(double cmd_pos, double cmd_vel, double cmd_acc)
00063   {
00064     setCommandPosition(cmd_pos);
00065     setCommandVelocity(cmd_vel);
00066     setCommandAcceleration(cmd_acc);
00067   }
00068 
00069   void setCommandAcceleration(double cmd_acc) {assert(cmd_acc_); *cmd_acc_ = cmd_acc;}
00070   double getCommandAcceleration() const {assert(cmd_acc_); return *cmd_acc_;}
00071 
00072 private:
00073   double* cmd_acc_;
00074 };
00075 
00076 
00085 class PosVelAccJointInterface : public HardwareResourceManager<PosVelAccJointHandle, ClaimResources> {};
00086 
00087 }
00088 
00089 #endif /*HARDWARE_INTERFACE_POSVELACC_COMMAND_INTERFACE_H*/


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