NJointHolonomicPlatformVelocityControllerInterface.cpp

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/*
 * This file is part of ArmarX.
 *
 * 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/>.
 *
 * @package    RobotAPI::ArmarXObjects::NJointHolonomicPlatformUnitVelocityPassThroughController
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "NJointHolonomicPlatformVelocityControllerInterface.h"
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
 
namespace armarx
{
    NJointHolonomicPlatformVelocityControllerInterface::
        NJointHolonomicPlatformVelocityControllerInterface() :
        maxCommandDelay(IceUtil::Time::milliSeconds(500))
    {
    }
 
    void
    NJointHolonomicPlatformVelocityControllerInterface::setVelocites(float velocityX,
                                                                     float velocityY,
                                                                     float velocityRotation)
    {
        LockGuardType guard{controlDataMutex};
        getWriterControlStruct().velocityX = velocityX;
        getWriterControlStruct().velocityY = velocityY;
        getWriterControlStruct().velocityRotation = velocityRotation;
        getWriterControlStruct().commandTimestamp = IceUtil::Time::now();
        writeControlStruct();
    }
 
    IceUtil::Time
    NJointHolonomicPlatformVelocityControllerInterface::getMaxCommandDelay() const
    {
        return maxCommandDelay;
    }
 
    void
    NJointHolonomicPlatformVelocityControllerInterface::setMaxCommandDelay(
        const IceUtil::Time& value)
    {
        maxCommandDelay = value;
    }
 
} // namespace armarx