JointController.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::JointController
 * @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 "JointController.h"
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
namespace armarx
{
    ControlDevice&
    JointController::getParent() const
    {
        ARMARX_CHECK_EXPRESSION(parent) << "This JointController is not owned by a ControlDevice";
        return *parent;
    }
 
    StringVariantBaseMap
    JointController::publish(const DebugDrawerInterfacePrx& draw,
                             const DebugObserverInterfacePrx& observer) const
    {
        return StringVariantBaseMap{};
    }
} // namespace armarx