RobotState.hpp

/*
    Copyright (c) Tobias Löw
    Written by Tobias Löw <https://tobiloew.ch>
 
    This file is part of orwell.
 
    gafro is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License version 3 as
    published by the Free Software Foundation.
 
    gafro 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 gafro. If not, see <http://www.gnu.org/licenses/>.
*/
 
#pragma once
 
#include <Eigen/Core>
 
namespace orwell
{
 
    template <int dof>
    class RobotState
    {
      public:
        using Vector = Eigen::Vector<double, dof>;
 
        RobotState();
 
        virtual ~RobotState();
 
        void setPosition(const Vector &position);
 
        void setVelocity(const Vector &velocity);
 
        void setTorque(const Vector &torque);
 
        const Vector &getPosition() const;
 
        const Vector &getVelocity() const;
 
        const Vector &getTorque() const;
 
      private:
        Vector position_;
 
        Vector velocity_;
 
        Vector torque_;
    };
}  // namespace orwell
 
#include <orwell/RobotState.hxx>