OncillaL0.cpp
8a07c8fe5d72newexample

OncillaL0.cpp
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			#include "OncillaL0.h"

			using namespace std;

			namespace rci {
			namespace oncilla {

			OncillaL0::OncillaL0(const std::string &name)
			: ResourceNode(name)
			, Controlled()
			, PositionControlled() {
			// \todo add default value as a setting
			_controlMode = modeJointPositionControl;
			_lastCommandedPosition = JointAngles::create(1,0.0);
			}

			bool OncillaL0::isConverged() const {
			return false;
			}

			void OncillaL0::unsafeSetCommand(double value){
			this->_lastCommandedPosition->setValue(value);
			}

			double OncillaL0::unsafeGetCommand() const{
			return this->_lastCommandedPosition->asDouble(0,false);
			}

			bool OncillaL0::setJointPosition(JointAnglesPtr position) {
			// Successfull
			this->_lastCommandedPosition = position;
			return true;
			}

			JointAnglesPtr OncillaL0::getLastPositionCommand() const {
			if (this->_lastCommandedPosition) {
			return this->_lastCommandedPosition;
			}

			throw runtime_error("No position command received yet.");
			}

			OncillaL0::~OncillaL0() {
			}

			std::string OncillaL0::print() const {
			ostringstream outstream(ostringstream::out);
			outstream.precision(3); // Precision when printing double values
			outstream << "<Oncilla Hip>" << endl;
			return outstream.str();
			}

			}
			}