posvelacc_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  PosVelAccJointHandle() = default;
46 
53  PosVelAccJointHandle(const JointStateHandle& js, double* cmd_pos, double* cmd_vel, double* cmd_acc)
54  : PosVelJointHandle(js, cmd_pos, cmd_vel), cmd_acc_(cmd_acc)
55  {
56  if (!cmd_acc)
57  {
58  throw HardwareInterfaceException("Cannot create handle '" + js.getName() + "'. Command acceleration data pointer is null.");
59  }
60  }
61 
62  void setCommand(double cmd_pos, double cmd_vel, double cmd_acc)
63  {
64  setCommandPosition(cmd_pos);
65  setCommandVelocity(cmd_vel);
66  setCommandAcceleration(cmd_acc);
67  }
68 
69  void setCommandAcceleration(double cmd_acc) {assert(cmd_acc_); *cmd_acc_ = cmd_acc;}
70  double getCommandAcceleration() const {assert(cmd_acc_); return *cmd_acc_;}
71 
72 private:
73  double* cmd_acc_ = {nullptr};
74 };
75 
76 
85 class PosVelAccJointInterface : public HardwareResourceManager<PosVelAccJointHandle, ClaimResources> {};
86 
87 }
PosVelAccJointHandle(const JointStateHandle &js, double *cmd_pos, double *cmd_vel, double *cmd_acc)
An exception related to a HardwareInterface.
void setCommand(double cmd_pos, double cmd_vel, double cmd_acc)
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...
A handle used to read and command a single joint.
Base class for handling hardware resources.


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