RobotState.hxx

/*
    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 <orwell/RobotState.hpp>
 
namespace orwell
{
 
    template <int dof>
    RobotState<dof>::RobotState() = default;
 
    template <int dof>
    RobotState<dof>::~RobotState() = default;
 
    template <int dof>
    void RobotState<dof>::setPosition(const Vector &position)
    {
        position_ = position;
    }
 
    template <int dof>
    void RobotState<dof>::setVelocity(const Vector &velocity)
    {
        velocity_ = velocity;
    }
 
    template <int dof>
    void RobotState<dof>::setTorque(const Vector &torque)
    {
        torque_ = torque;
    }
 
    template <int dof>
    const typename RobotState<dof>::Vector &RobotState<dof>::getPosition() const
    {
        return position_;
    }
 
    template <int dof>
    const typename RobotState<dof>::Vector &RobotState<dof>::getVelocity() const
    {
        return velocity_;
    }
 
    template <int dof>
    const typename RobotState<dof>::Vector &RobotState<dof>::getTorque() const
    {
        return torque_;
    }
 
}  // namespace orwell