From 2639567df65972eb231421ed8f6495793cb1493b Mon Sep 17 00:00:00 2001
From: Markus Swarowsky <markus.swarowsky@student.kit.edu>
Date: Tue, 28 Feb 2017 19:17:09 +0100
Subject: [PATCH] removed raw value support for the KinematicDataUnit
---
.../DataUnits/KinematicDataUnit.h | 93 ++++++++++++++-----
1 file changed, 71 insertions(+), 22 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h b/source/RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h
index 43c57f9b2..fb5c6851f 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h
+++ b/source/RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h
@@ -36,26 +36,43 @@ namespace armarx
{
public:
virtual const std::vector<std::string>& getJointNames() const = 0;
+
virtual std::vector<const float*> getJointAngles(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const float*> getJointVelocities(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const float*> getJointTorques(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const float*> getJointCurrents(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const float*> getJointMotorTemperatures(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const float*> getJointGearTemperatures(const std::vector<std::string>& joints) const = 0;
- virtual std::vector<const int32_t*> getJointRawPositionValues(const std::vector<std::string>& joints) const = 0;
- virtual std::vector<const int32_t*> getJointRawVelocityValues(const std::vector<std::string>& joints) const = 0;
+ virtual std::vector<const int32_t*>
+ getJointRawPositionValues(const std::vector<std::string>& joints) const = 0;
+
+ virtual std::vector<const int32_t*>
+ getJointRawVelocityValues(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const int16_t*> getJointRawCurrentValues(const std::vector<std::string>& joints) const = 0;
+
virtual std::vector<const int32_t*> getJointRawTorqueValues(const std::vector<std::string>& joints) const = 0;
- virtual std::vector<const int32_t*> getJointRawGearTemperatures(const std::vector<std::string>& joints) const = 0;
- virtual std::vector<const int32_t*> getJointRawAbsPositionValues(const std::vector<std::string>& joints) const = 0;
- virtual std::vector<const int16_t*> getJointRawMotorTemperatureValues(const std::vector<std::string>& joints) const = 0;
+
+ virtual std::vector<const int32_t*>
+ getJointRawGearTemperatures(const std::vector<std::string>& joints) const = 0;
+
+ virtual std::vector<const int32_t*>
+ getJointRawAbsPositionValues(const std::vector<std::string>& joints) const = 0;
+
+ virtual std::vector<const int16_t*>
+ getJointRawMotorTemperatureValues(const std::vector<std::string>& joints) const = 0;
};
- class KinematicDataUnitPtrProvider: virtual public KinematicDataUnitInterface
+ class KinematicDataUnitPtrProvider : virtual public KinematicDataUnitInterface
{
public:
- KinematicDataUnitPtrProvider(const std::vector<std::string>& jointNames):
+ KinematicDataUnitPtrProvider(const std::vector<std::string>& jointNames) :
jointAngles(jointNames.size(), nullptr),
jointVelocites(jointNames.size(), nullptr),
jointTorques(jointNames.size(), nullptr),
@@ -71,79 +88,109 @@ namespace armarx
jointRawAbsPositionValues(jointNames.size(), nullptr),
jointRawMotorTemperatureValues(jointNames.size(), nullptr),
jointNames {jointNames},
- jointIndices {toIndexMap(jointNames)}
- {}
+ jointIndices {toIndexMap(jointNames)} {}
+
KinematicDataUnitPtrProvider() = default;
+
KinematicDataUnitPtrProvider(const KinematicDataUnitPtrProvider&) = default;
+ void setJointNames(std::vector<std::string>& names)
+ {
+ jointNames = names;
+ jointIndices = toIndexMap(names);
+
+ jointAngles = std::vector<float*>(names.size(), nullptr);
+ jointVelocites = std::vector<float*>(jointNames.size(), nullptr);
+ jointTorques = std::vector<float*>(jointNames.size(), nullptr);
+ jointCurrents = std::vector<float*>(jointNames.size(), nullptr);
+ jointMotorTemperatures = std::vector<float*>(jointNames.size(), nullptr);
+ jointGearTemperatures = std::vector<float*>(jointNames.size(), nullptr);
+ jointAbsPositions = std::vector<float*>(jointNames.size(), nullptr);
+ }
+
const std::vector<std::string>& getJointNames() const
{
return jointNames;
}
+
std::size_t getJointIndex(const std::string& joint) const
{
return jointIndices.at(joint);
}
- virtual std::vector<const float*> getJointAngles(const std::vector<std::string>& joints)const
+ virtual std::vector<const float*> getJointAngles(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointAngles);
}
- virtual std::vector<const float*> getJointVelocities(const std::vector<std::string>& joints)const
+
+ virtual std::vector<const float*> getJointVelocities(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointVelocites);
}
- virtual std::vector<const float*> getJointTorques(const std::vector<std::string>& joints)const
+
+ virtual std::vector<const float*> getJointTorques(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointTorques);
}
- virtual std::vector<const float*> getJointCurrents(const std::vector<std::string>& joints)const
+
+ virtual std::vector<const float*> getJointCurrents(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointCurrents);
}
- virtual std::vector<const float*> getJointMotorTemperatures(const std::vector<std::string>& joints)const
+
+ virtual std::vector<const float*> getJointMotorTemperatures(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointMotorTemperatures);
}
- virtual std::vector<const float*> getJointGearTemperatures(const std::vector<std::string>& joints)const
+
+ virtual std::vector<const float*> getJointGearTemperatures(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointGearTemperatures);
}
- virtual std::vector<const float*> getJointAbsPositions(const std::vector<std::string>& joints)const
+
+ virtual std::vector<const float*> getJointAbsPositions(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointAbsPositions);
}
+
virtual std::vector<const int32_t*> getJointRawPositionValues(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawPositionValues);
}
+
virtual std::vector<const int32_t*> getJointRawVelocityValues(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawVelocityValues);
}
+
virtual std::vector<const int16_t*> getJointRawCurrentValues(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawCurrentValues);
}
+
virtual std::vector<const int32_t*> getJointRawTorqueValues(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawTorqueValues);
}
+
virtual std::vector<const int32_t*> getJointRawGearTemperatures(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawGearTemperatures);
}
- virtual std::vector<const int32_t*> getJointRawAbsPositionValues(const std::vector<std::string>& joints) const
+
+ virtual std::vector<const int32_t*>
+ getJointRawAbsPositionValues(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawAbsPositionValues);
}
- virtual std::vector<const int16_t*> getJointRawMotorTemperatureValues(const std::vector<std::string>& joints) const
+
+ virtual std::vector<const int16_t*>
+ getJointRawMotorTemperatureValues(const std::vector<std::string>& joints) const
{
return getPointers(joints, jointRawMotorTemperatureValues);
}
-
protected:
std::vector<float*> jointAngles;
std::vector<float*> jointVelocites;
@@ -162,7 +209,8 @@ namespace armarx
std::vector<int16_t*> jointRawMotorTemperatureValues;
private:
template<class T>
- std::vector<const T*> getPointers(const std::vector<std::string>& joints, const std::vector<T*>& targets) const
+ std::vector<const T*>
+ getPointers(const std::vector<std::string>& joints, const std::vector<T*>& targets) const
{
std::vector<const T*> result;
result.reserve(joints.size());
@@ -175,8 +223,9 @@ namespace armarx
);
return result;
}
- const std::vector<std::string> jointNames;
- const std::unordered_map<std::string, std::size_t> jointIndices;
+
+ std::vector<std::string> jointNames;
+ std::unordered_map<std::string, std::size_t> jointIndices;
};
}
--
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