ForceTorqueFilter.hpp

Go to the documentation of this file.

#pragma once

#include <cstdint>
#include <ros/console.h>
#include <ros/node_handle.h>

namespace rokubimini
{
namespace configuration
{
class ForceTorqueFilter
{
public:
  using NodeHandlePtr = std::shared_ptr<ros::NodeHandle>;
  ForceTorqueFilter() = default;

  ForceTorqueFilter(const uint16_t sincFilterSize, const uint8_t chopEnable, const uint8_t skipEnable,
                    const uint8_t fastEnable);

  ~ForceTorqueFilter() = default;

  bool load(const std::string& key, NodeHandlePtr nh);

  uint16_t getSincFilterSize() const
  {
    return sincFilterSize_;
  }

  void setSincFilterSize(const uint16_t sincFilterSize)
  {
    sincFilterSize_ = sincFilterSize;
  }

  uint8_t getChopEnable() const
  {
    return chopEnable_;
  }

  void setChopEnable(const uint8_t chopEnable)
  {
    chopEnable_ = chopEnable;
  }

  uint8_t getSkipEnable() const
  {
    return skipEnable_;
  }

  void setSkipEnable(const uint8_t skipEnable)
  {
    skipEnable_ = skipEnable;
  }

  uint8_t getFastEnable() const
  {
    return fastEnable_;
  }

  void setFastEnable(const uint8_t fastEnable)
  {
    fastEnable_ = fastEnable;
  }

  void print() const;

private:
  uint16_t sincFilterSize_;

  uint8_t chopEnable_;

  uint8_t skipEnable_;

  uint8_t fastEnable_;
};

}  // namespace configuration
}  // namespace rokubimini