JointCommand.hpp

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#ifndef WBC_TYPES_JOINT_COMMAND_HPP
#define WBC_TYPES_JOINT_COMMAND_HPP
 
#include <Eigen/Core>
 
namespace wbc { namespace types {
 
class JointCommand{
public:
    Eigen::VectorXd position;       
    Eigen::VectorXd velocity;       
    Eigen::VectorXd acceleration;   
    Eigen::VectorXd effort;         
 
    void clear(){
        position.resize(0);
        velocity.resize(0);
        acceleration.resize(0);
        effort.resize(0);
    }

    void resize(uint n){
        position.setConstant(n,std::numeric_limits<double>::quiet_NaN());
        velocity.setConstant(n,std::numeric_limits<double>::quiet_NaN());
        acceleration.setConstant(n,std::numeric_limits<double>::quiet_NaN());
        effort.setConstant(n,std::numeric_limits<double>::quiet_NaN());
    }
};
 
 
enum CommandMode{
    UNSET = -1,
    POSITION = 0,
    VELOCITY = 1,
    ACCELERATION = 2,
    EFFORT = 3
};
 
 
}
}
 
#endif // WBC_TYPES_JOINT_COMMAND_HPP