JointSensor.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
#include <limits>
#include <string>
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI JointSensor
{
  inline JointSensor() : JointSensor("") {}
 
  inline JointSensor(const std::string & jointName) { joint_ = jointName; }
 
  JointSensor(const JointSensor &) = default;
  JointSensor & operator=(const JointSensor &) = default;
 
  JointSensor(JointSensor &&) = default;
  JointSensor & operator=(JointSensor &&) = default;
 
  ~JointSensor() noexcept = default;
 
  inline const std::string & joint() const noexcept { return joint_; }
 
  inline double motorTemperature() const noexcept { return motor_temperature_; }
 
  inline void motorTemperature(double motor_temperature) noexcept { motor_temperature_ = motor_temperature; }
 
  inline double driverTemperature() const noexcept { return driver_temperature_; }
 
  inline void driverTemperature(double driver_temperature) noexcept { driver_temperature_ = driver_temperature; }
 
  inline double motorCurrent() const noexcept { return motor_current_; }
 
  inline void motorCurrent(double motor_current) noexcept { motor_current_ = motor_current; }
 
  inline bool motorStatus() const noexcept { return motor_status_; }
 
  inline void motorStatus(bool motor_status) noexcept { motor_status_ = motor_status; }
 
protected:
  std::string joint_;
 
private:
  /* Motor temperature (Celcius) */
  double motor_temperature_ = std::numeric_limits<double>::quiet_NaN();
  /* Drive temperature (Celcius) */
  double driver_temperature_ = std::numeric_limits<double>::quiet_NaN();
  /* Motor current (Ampere) */
  double motor_current_ = std::numeric_limits<double>::quiet_NaN();
  /* Motor status (ON/OFF) */
  bool motor_status_ = true;
};
 
inline bool operator==(const JointSensor & lhs, const JointSensor & rhs)
{
  return lhs.joint() == rhs.joint();
}
 
} // namespace mc_rbdyn