RobotChain.h

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/*
 * 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_ROBOTCHAIN_H_
#define _XBOT_ROBOTCHAIN_H_
 
#include "XBotInterface/KinematicChain.h"
#include "XBotInterface/ModelChain.h"
 
namespace XBot {
 
class RobotChain : public KinematicChain {
    
public:
    
    typedef std::shared_ptr<RobotChain> Ptr;
    
    RobotChain();
 
    
    // Getters for RX
 
    using KinematicChain::getJointPosition;
    using KinematicChain::getMotorPosition;
    using KinematicChain::getJointVelocity;
    using KinematicChain::getMotorVelocity;
    using KinematicChain::getJointEffort;
    using KinematicChain::getTemperature;
 
    
    // 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;
    
    template <typename... SyncFlags>
    bool setReferenceFrom(const ModelChain& model_chain, SyncFlags... flags);
    
    
protected:
    
private:
    
    using KinematicChain::syncFrom;
    using KinematicChain::pushBackJoint;
    
    // Setters for RX
    
    using KinematicChain::setJointPosition;
    using KinematicChain::setMotorPosition;
    using KinematicChain::setJointVelocity;
    using KinematicChain::setMotorVelocity;
    using KinematicChain::setJointEffort;
    using KinematicChain::setTemperature;
    
    using KinematicChain::setJointAcceleration;
    using KinematicChain::getJointAcceleration;
 
    
    
};
 
template <typename... SyncFlags>
bool RobotChain::setReferenceFrom(const ModelChain& other, SyncFlags... flags)
{
    int pos = 0;
    for (const XBot::Joint::Ptr & j : other._joint_vector) {
        _joint_vector[pos++]->setReferenceFrom(*j, flags...);
    }
 
    return true;
}
 
} // end namespace XBot
#endif