include/LWRCartImpedanceController.h

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#ifndef __LWRCartImpedanceController__
#define __LWRCartImpedanceController__


#include <FastResearchInterface.h>
#include <LWRBaseControllerInterface.h>


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class LWRCartImpedanceController : public LWRBaseControllerInterface
{


public:


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    LWRCartImpedanceController(const char *InitFileName):LWRBaseControllerInterface(InitFileName)
    {
    }


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    ~LWRCartImpedanceController(void)
    {
    }


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    inline int StartRobot(const float &TimeOutValueInSeconds    =   120.0)
    {
        this->printf("Please start up the robot now by using KUKA Control Panel.\n");

        // start the controller and switch to command mode
        return(this->FRI->StartRobot(       FastResearchInterface::CART_IMPEDANCE_CONTROL
                                        ,   TimeOutValueInSeconds));
    }


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    inline void GetMeasuredCartPose(float *MeasuredCartPose)
    {
        return(this->FRI->GetMeasuredCartPose(MeasuredCartPose));
    }


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    inline void SetCommandedCartPose(const float *CommandedCartPose)
    {
        return(this->FRI->SetCommandedCartPose(CommandedCartPose));
    }


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    inline void SetCommandedCartForcesAndTorques(const float *CartForcesAndTorques)
    {
        return(this->FRI->SetCommandedCartForcesAndTorques(CartForcesAndTorques));
    }


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    inline void SetCommandedCartStiffness(const float *CommandedCartStiffness)
    {
        return(this->FRI->SetCommandedCartStiffness(CommandedCartStiffness));
    }


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    inline void SetCommandedCartDamping(const float *CommandedCartDamping)
    {
        return(this->FRI->SetCommandedCartDamping(CommandedCartDamping));
    }


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    inline void GetEstimatedExternalCartForcesAndTorques(float *EstimatedExternalCartForcesAndTorques)
    {
        return(this->FRI->GetEstimatedExternalCartForcesAndTorques(EstimatedExternalCartForcesAndTorques));
    }

};  // class LWRCartImpedanceController

#endif