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OncillaL0.cpp
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Created
Fri, Aug 23, 00:53
Size
1 KB
Mime Type
text/x-c
Expires
Sun, Aug 25, 00:53 (1 d, 23 h)
Engine
blob
Format
Raw Data
Handle
20094736
Attached To
R6622 liboncilla
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
();
}
}
}
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