posvel_command_interface.h
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27 
29 
30 #pragma once
31 
32 
33 #include <cassert>
34 #include <string>
37 
38 namespace hardware_interface
39 {
40 
43 {
44 public:
45  PosVelJointHandle() = default;
46 
52  PosVelJointHandle(const JointStateHandle& js, double* cmd_pos, double* cmd_vel)
53  : JointStateHandle(js), cmd_pos_(cmd_pos), cmd_vel_(cmd_vel)
54  {
55  if (!cmd_pos)
56  {
57  throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command position pointer is null.");
58  }
59  if (!cmd_vel)
60  {
61  throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command velocity pointer is null.");
62  }
63  }
64 
65  void setCommand(double cmd_pos, double cmd_vel)
66  {
67  setCommandPosition(cmd_pos);
68  setCommandVelocity(cmd_vel);
69  }
70 
71  void setCommandPosition(double cmd_pos) {assert(cmd_pos_); *cmd_pos_ = cmd_pos;}
72  void setCommandVelocity(double cmd_vel) {assert(cmd_vel_); *cmd_vel_ = cmd_vel;}
73 
74  double getCommandPosition() const {assert(cmd_pos_); return *cmd_pos_;}
75  double getCommandVelocity() const {assert(cmd_vel_); return *cmd_vel_;}
76 
77 private:
78  double* cmd_pos_ = {nullptr};
79  double* cmd_vel_ = {nullptr};
80 };
81 
90 class PosVelJointInterface : public HardwareResourceManager<PosVelJointHandle, ClaimResources> {};
91 
92 }
void setCommand(double cmd_pos, double cmd_vel)
An exception related to a HardwareInterface.
PosVelJointHandle(const JointStateHandle &js, double *cmd_pos, double *cmd_vel)
Hardware interface to support commanding an array of joints.
A handle used to read and command a single joint.
A handle used to read the state of a single joint. Currently, position, velocity and effort fields ar...
Base class for handling hardware resources.


hardware_interface
Author(s): Wim Meeussen, Adolfo Rodriguez Tsouroukdissian
autogenerated on Tue Jun 22 2021 06:37:33