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OncillaKnee.cpp
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Created
Fri, Aug 23, 08:02
Size
1 KB
Mime Type
text/x-c
Expires
Sun, Aug 25, 08:02 (2 d)
Engine
blob
Format
Raw Data
Handle
20110672
Attached To
R6622 liboncilla
OncillaKnee.cpp
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#include "OncillaKnee.h"
using
namespace
std
;
using
namespace
boost
;
namespace
cca
{
namespace
rci
{
namespace
driver
{
OncillaKnee
::
OncillaKnee
(
std
::
string
name
)
:
ResourceNode
(
name
),
Controlled
(),
Sensing
(),
PositionControlled
(),
PositionSensing
(),
VelocityControlled
(),
TorqueControlled
(),
ImpedanceControlled
()
{
// Two encoder values - difference is due to passive compliance
this
->
_dimension
=
2
;
}
bool
OncillaKnee
::
isConverged
()
const
{
return
false
;
}
bool
OncillaKnee
::
setJointPosition
(
JointAnglesPtr
position
)
{
// Successfull
// std::cerr << "[OncillaKnee] " << position << std::endl;
this
->
_lastCommandedPosition
=
position
;
return
true
;
}
JointAnglesPtr
OncillaKnee
::
getJointPosition
()
const
{
return
this
->
_latestJointPosition
;
}
OncillaKnee
::~
OncillaKnee
()
{
}
std
::
string
OncillaKnee
::
print
()
const
{
ostringstream
outstream
(
ostringstream
::
out
);
outstream
.
precision
(
3
);
// Precision when printing double values
outstream
<<
"<Oncilla Knee>"
<<
endl
;
return
outstream
.
str
();
}
bool
OncillaKnee
::
setJointTorque
(
JointTorquesPtr
torques
)
{
throw
std
::
runtime_error
(
"Not yet implemented."
);
}
bool
OncillaKnee
::
setJointImpedance
(
JointImpedancePtr
imped
)
{
throw
std
::
runtime_error
(
"Not yet implemented."
);
}
bool
OncillaKnee
::
setJointVelocity
(
JointVelocitiesPtr
vel
)
{
throw
std
::
runtime_error
(
"Not yet implemented."
);
}
JointAnglesPtr
OncillaKnee
::
getLastPositionCommand
()
const
{
// TODO: The second part f this condition shouldn`t be necessary
if
(
!
this
->
_lastCommandedPosition
||
!
this
->
_lastCommandedPosition
.
get
())
{
// No command set yet. Returning current joint values instead
// FIXME: Instead of return current position set command to current position
return
this
->
_latestJointPosition
;
}
return
this
->
_lastCommandedPosition
;
}
}
}
}
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