KinematicUnitHelper.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "KinematicUnitHelper.h"
 
namespace armarx
{
    KinematicUnitHelper::KinematicUnitHelper(const KinematicUnitInterfacePrx& kinUnit)
        : kinUnit(kinUnit)
    {
    }
 
    void KinematicUnitHelper::setJointAngles(const NameValueMap& jointAngles)
    {
        kinUnit->switchControlMode(MakeControlModes(jointAngles, ePositionControl));
        kinUnit->setJointAngles(jointAngles);
    }
 
    void KinematicUnitHelper::setJointVelocities(const NameValueMap& jointVelocities)
    {
        kinUnit->switchControlMode(MakeControlModes(jointVelocities, eVelocityControl));
        kinUnit->setJointVelocities(jointVelocities);
    }
 
    void KinematicUnitHelper::setJointTorques(const NameValueMap& jointTorques)
    {
        kinUnit->switchControlMode(MakeControlModes(jointTorques, eTorqueControl));
        kinUnit->setJointTorques(jointTorques);
    }
 
    NameControlModeMap KinematicUnitHelper::MakeControlModes(const NameValueMap& jointValues, ControlMode controlMode)
    {
        NameControlModeMap cm;
        for (const auto& pair : jointValues)
        {
            cm[pair.first] = controlMode;
        }
        return cm;
    }
}