include/LWRJointImpedanceController.h

Go to the documentation of this file.

//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
//   For a convenient reading of this file's source code,
//   please use a tab width of four characters.
//  ----------------------------------------------------------


#ifndef __LWRJointImpedanceController__
#define __LWRJointImpedanceController__


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


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------

class LWRJointImpedanceController : public LWRBaseControllerInterface
{


public:


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    LWRJointImpedanceController(const char *InitFileName):LWRBaseControllerInterface(InitFileName)
    {
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    ~LWRJointImpedanceController(void)
    {
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    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::JOINT_IMPEDANCE_CONTROL
                                        ,   TimeOutValueInSeconds));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline void SetCommandedJointPositions(const float *CommandedJointPositions)
    {
        return(this->FRI->SetCommandedJointPositions(CommandedJointPositions));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline void SetCommandedJointTorques(const float *CommandedJointTorques)
    {
        return(this->FRI->SetCommandedJointTorques(CommandedJointTorques));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline void SetCommandedJointStiffness(const float *CommandedJointStiffness)
    {
        return(this->FRI->SetCommandedJointStiffness(CommandedJointStiffness));
    }


//  ---------------------- Doxygen info ----------------------
//  ----------------------------------------------------------
    inline void SetCommandedJointDamping(const float *CommandedJointDamping)
    {
        return(this->FRI->SetCommandedJointDamping(CommandedJointDamping));
    }


};  // class LWRJointImpedanceController

#endif