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Commit 2639567d authored by Markus Swarowsky's avatar Markus Swarowsky
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removed raw value support for the KinematicDataUnit

parent 0161d371
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source/RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h
+ 71
− 22
View file @ 2639567d
......@@ -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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