XBotInterface/ModelChain_8h_source.html

/*

 * Copyright (C) 2016 IIT-ADVR

 * Author: Arturo Laurenzi, Luca Muratore

 * email:  arturo.laurenzi@iit.it, luca.muratore@iit.it

 *

 * This program is free software: you can redistribute it and/or modify

 * it under the terms of the GNU Lesser General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

 * GNU Lesser General Public License for more details.

 *

 * You should have received a copy of the GNU Lesser General Public License

 * along with this program. If not, see <http://www.gnu.org/licenses/>

*/


#ifndef _XBOT_MODELCHAIN_H_

#define _XBOT_MODELCHAIN_H_


#include "XBotInterface/KinematicChain.h"


namespace XBot {


class RobotChain;


class ModelChain : public KinematicChain {


public:


    typedef std::shared_ptr<ModelChain> Ptr;


    friend XBot::RobotChain;


    // Getters for RX


    using KinematicChain::getJointPosition;

    using KinematicChain::getMotorPosition;

    using KinematicChain::getJointVelocity;

    using KinematicChain::getMotorVelocity;

    using KinematicChain::getJointAcceleration;

    using KinematicChain::getJointEffort;


    // Setters for RX


    using KinematicChain::setJointPosition;

    using KinematicChain::setMotorPosition;

    using KinematicChain::setJointVelocity;

    using KinematicChain::setMotorVelocity;

    using KinematicChain::setJointAcceleration;

    using KinematicChain::setJointEffort;


protected:


private:


    using KinematicChain::getTemperature;

    using KinematicChain::setTemperature;


    // Getters for TX


    using KinematicChain::getPositionReference;

    using KinematicChain::getVelocityReference;

    using KinematicChain::getEffortReference;

    using KinematicChain::getStiffness;

    using KinematicChain::getDamping;


    // Setters for TX


    using KinematicChain::setPositionReference;

    using KinematicChain::setVelocityReference;

    using KinematicChain::setEffortReference;

    using KinematicChain::setStiffness;

    using KinematicChain::setDamping;


    using KinematicChain::pushBackJoint;


};

} // end namespace XBot

#endif