group_command.hpp

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#pragma once
 
#include "hebi.h"
 
#include <vector>
 
#include "Eigen/Eigen"
#include "command.hpp"
#include "util.hpp"
 
namespace hebi {
 
class GroupCommand final {
public:
#ifndef DOXYGEN_OMIT_INTERNAL
 
  HebiGroupCommandPtr internal_;
#endif // DOXYGEN_OMIT_INTERNAL
 
private:
  const size_t number_of_modules_;
  std::vector<Command> commands_;
 
public:
  GroupCommand(size_t number_of_modules);
 
  ~GroupCommand() noexcept; /* annotating specified destructor as noexcept is best-practice */
 
  size_t size() const;
 
  Command& operator[](size_t index);
 
  const Command& operator[](size_t index) const;
 
  void clear();
 
  bool readGains(const std::string& file);
 
  bool writeGains(const std::string& file) const;
 
  FunctionCallResult readSafetyParameters(const std::string& file) {
    auto res = hebiGroupCommandReadSafetyParameters(internal_, file.c_str()) == HebiStatusSuccess;
    if (res) {
      return FunctionCallResult{true};
    }
    return FunctionCallResult{false, std::string{hebiSafetyParametersGetLastError()}};
  }
 
  FunctionCallResult writeSafetyParameters(const std::string& file) const {
    auto res = hebiGroupCommandWriteSafetyParameters(internal_, file.c_str()) == HebiStatusSuccess;
    if (res) {
      return FunctionCallResult{true};
    }
    return FunctionCallResult{false, std::string{hebiSafetyParametersGetLastError()}};
  }
 
  void setPosition(const Eigen::VectorXd& position);
  void setVelocity(const Eigen::VectorXd& velocity);
  void setEffort(const Eigen::VectorXd& effort);
  void setSpringConstant(const Eigen::VectorXd& springConstant);
 
  Eigen::VectorXd getPosition() const;
  Eigen::VectorXd getVelocity() const;
  Eigen::VectorXd getEffort() const;
  Eigen::VectorXd getSpringConstant() const;
 
  void getPosition(Eigen::VectorXd& out) const;
  void getVelocity(Eigen::VectorXd& out) const;
  void getEffort(Eigen::VectorXd& out) const;
  void getSpringConstant(Eigen::VectorXd& out) const;
};
 
} // namespace hebi