From 31578954f022decb1c7a0b2f521bc150ef18e21c Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Wed, 2 Dec 2015 15:40:25 +0100
Subject: [PATCH] extended HandUnitInterface for pneumatic hands
---
source/RobotAPI/components/units/HandUnit.cpp | 10 ++++++++++
source/RobotAPI/components/units/HandUnit.h | 4 ++--
source/RobotAPI/interface/units/HandUnitInterface.ice | 6 ++++++
3 files changed, 18 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index b30f96136..829beb052 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/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)
{
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 1fd2c51bf..8ecffff20 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/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&);
};
}
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index f3df38d62..982b2170a 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/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.
--
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