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make ScaledJointHandle inherit from JointHandle

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This reduces code duplication
This commit is contained in:
Felix Mauch
2019-06-26 08:44:02 +02:00
parent 72330cb98b
commit 1caa2c4a97
1 changed files with 6 additions and 19 deletions
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25
ur_controllers/include/ur_controllers/scaled_joint_command_interface.h
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@@ -44,28 +44,26 @@
#include <hardware_interface/internal/hardware_resource_manager.h> #include <hardware_interface/internal/hardware_resource_manager.h>
#include <hardware_interface/joint_state_interface.h> #include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/joint_command_interface.h>
namespace ur_controllers namespace ur_controllers
{ {
class ScaledJointHandle : public hardware_interface::JointStateHandle class ScaledJointHandle : public hardware_interface::JointHandle
{ {
public: public:
ScaledJointHandle() : cmd_(0), scaling_factor_(0) ScaledJointHandle() : hardware_interface::JointHandle(), scaling_factor_(0)
{ {
} }
/** /**
* \param js This joint's state handle * \param js This joint's state handle
* \param cmd A pointer to the storage for this joint's output command * \param cmd A pointer to the storage for this joint's output command
* \param scaling_factor A pointer to the storage for this joint's scaling factor
*/ */
ScaledJointHandle(const hardware_interface::JointStateHandle& js, double* cmd, double* scaling_factor) ScaledJointHandle(const hardware_interface::JointStateHandle& js, double* cmd, double* scaling_factor)
: hardware_interface::JointStateHandle(js), cmd_(cmd), scaling_factor_(scaling_factor) : hardware_interface::JointHandle(js, cmd), scaling_factor_(scaling_factor)
{ {
if (cmd_ == nullptr)
{
throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
"'. Command data pointer is null.");
}
if (scaling_factor_ == nullptr) if (scaling_factor_ == nullptr)
{ {
throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() + throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + js.getName() +
@@ -75,16 +73,6 @@ public:
virtual ~ScaledJointHandle() = default; virtual ~ScaledJointHandle() = default;
void setCommand(double command)
{
assert(cmd_);
*cmd_ = command;
}
double getCommand() const
{
assert(cmd_);
return *cmd_;
}
void setScalingFactor(double scaling_factor) void setScalingFactor(double scaling_factor)
{ {
assert(scaling_factor_); assert(scaling_factor_);
@@ -97,7 +85,6 @@ public:
} }
private: private:
double* cmd_;
double* scaling_factor_; double* scaling_factor_;
}; };