From f4310634218f29811948989d2dbdf15a50a0279f Mon Sep 17 00:00:00 2001
From: Markus Swarowsky <markus.swarowsky@student.kit.edu>
Date: Thu, 2 Feb 2017 15:49:11 +0100
Subject: [PATCH] added Raw values to the KinematicDataUnit changed function
names in RobotUnit to make clear which is RT and which not
---
.../Controllers/DataUnits/KinematicDataUnit.h | 46 +++++++++++++++++++
.../libraries/Controllers/RobotUnit.h | 10 ++--
2 files changed, 51 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h b/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h
index 2b01e1df4..93aae5d1e 100644
--- a/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h
+++ b/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h
@@ -42,6 +42,14 @@ namespace armarx
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 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*> getJointTemperatureRobodriveValues(const std::vector<std::string>& joints) const = 0;
};
class KinematicDataUnitPtrProvider: virtual public KinematicDataUnitInterface
@@ -98,6 +106,36 @@ namespace armarx
{
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
+ {
+ return getPointers(joints, jointRawAbsPositionValues);
+ }
+ virtual std::vector<const int16_t*> getJointTemperatureRobodriveValues(const std::vector<std::string>& joints) const
+ {
+ return getPointers(joints, jointRawMotorTemperatureValues);
+ }
+
+
protected:
std::vector<float*> jointAngles;
@@ -107,6 +145,14 @@ namespace armarx
std::vector<float*> jointMotorTemperatures;
std::vector<float*> jointGearTemperatures;
std::vector<float*> jointAbsPositions;
+
+ std::vector<int32_t*> jointRawPositionValues;
+ std::vector<int32_t*> jointRawVelocityValues;
+ std::vector<int16_t*> jointRawCurrentValues;
+ std::vector<int32_t*> jointRawTorqueValues;
+ std::vector<int32_t*> jointRawGearTemperatures;
+ std::vector<int32_t*> jointRawAbsPositionValues;
+ 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
diff --git a/source/RobotAPI/libraries/Controllers/RobotUnit.h b/source/RobotAPI/libraries/Controllers/RobotUnit.h
index 73680e328..61e923959 100644
--- a/source/RobotAPI/libraries/Controllers/RobotUnit.h
+++ b/source/RobotAPI/libraries/Controllers/RobotUnit.h
@@ -109,11 +109,11 @@ namespace armarx
virtual InertialMeasurementUnitInterfacePrx getInertialMeasurementUnit(const Ice::Current& = GlobalIceCurrent) const = 0;
virtual PlatformUnitInterfacePrx getPlatformUnitInterface(const Ice::Current& = GlobalIceCurrent) const = 0;
//units (rt)
- virtual const ForceTorqueDataUnitInterface& getForceTorqueDataUnit() const = 0;
- virtual const HapticDataUnitInterface& getHapticDataUnit() const = 0;
- virtual const IMUDataUnitInterface& getIMUDataUnit() const = 0;
- virtual const KinematicDataUnitInterface& getKinematicDataUnit() const = 0;
- virtual const PlatformDataUnitInterface& getPlatformDataUnit() const = 0;
+ virtual const ForceTorqueDataUnitInterface& getRTForceTorqueDataUnit() const = 0;
+ virtual const HapticDataUnitInterface& getRTHapticDataUnit() const = 0;
+ virtual const IMUDataUnitInterface& getRTIMUDataUnit() const = 0;
+ virtual const KinematicDataUnitInterface& getRTKinematicDataUnit() const = 0;
+ virtual const PlatformDataUnitInterface& getRTPlatformDataUnit() const = 0;
//targets
JointTargetBase* getJointTarget(const std::string& jointName, const std::string& controlMode);
--
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