extended HandUnitInterface for pneumatic hands

source/RobotAPI/components/units/HandUnit.cpp

@@ -191,6 +191,16 @@ std::string armarx::HandUnit::getHandName(const Ice::Current&)
     return eef->getName();
 }
 
+void HandUnit::setJointPressures(const NameValueMap&, const Ice::Current&)
+{
+
+}
+
+void HandUnit::setJointCommands(const NameCommandMap&, const Ice::Current&)
+{
+
+}
+
 
 void armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles, const Ice::Current& c)
 {

source/RobotAPI/components/units/HandUnit.h

@@ -166,8 +166,8 @@ namespace armarx
         // HandUnitInterface interface
     public:
         std::string getHandName(const Ice::Current&);
-
-
+        void setJointPressures(const NameValueMap&, const Ice::Current&);
+        void setJointCommands(const NameCommandMap&, const Ice::Current&);
     };
 }
 

source/RobotAPI/interface/units/HandUnitInterface.ice

@@ -34,6 +34,8 @@
 
 module armarx
 {
+    dictionary<string, string> NameCommandMap;
+
 	/**
      * Implements an interface to a HandUnit.
      */
@@ -72,6 +74,10 @@ module armarx
          * @param targetJointAngles Map of joint names and corresponding joint angle values.
          */
         void setJointAngles(NameValueMap targetJointAngles);
+
+        void setJointPressures(NameValueMap targetJointPressures);
+
+        void setJointCommands(NameCommandMap targetJointCommands);
     };
 	/**
      * Implements an interface to a HandUnitListener.