JointData.cpp

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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2011
00004  * All rights reserved.
00005  *
00006  * Hochschule Bonn-Rhein-Sieg
00007  * University of Applied Sciences
00008  * Computer Science Department
00009  *
00010  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00011  *
00012  * Author:
00013  * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
00014  * Supervised by:
00015  * Gerhard K. Kraetzschmar
00016  *
00017  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00018  *
00019  * This sofware is published under a dual-license: GNU Lesser General Public 
00020  * License LGPL 2.1 and BSD license. The dual-license implies that users of this
00021  * code may choose which terms they prefer.
00022  *
00023  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024  *
00025  * Redistribution and use in source and binary forms, with or without
00026  * modification, are permitted provided that the following conditions are met:
00027  *
00028  *     * Redistributions of source code must retain the above copyright
00029  *       notice, this list of conditions and the following disclaimer.
00030  *     * Redistributions in binary form must reproduce the above copyright
00031  *       notice, this list of conditions and the following disclaimer in the
00032  *       documentation and/or other materials provided with the distribution.
00033  *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
00034  *       contributors may be used to endorse or promote products derived from
00035  *       this software without specific prior written permission.
00036  *
00037  * This program is free software: you can redistribute it and/or modify
00038  * it under the terms of the GNU Lesser General Public License LGPL as
00039  * published by the Free Software Foundation, either version 2.1 of the
00040  * License, or (at your option) any later version or the BSD license.
00041  *
00042  * This program is distributed in the hope that it will be useful,
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00045  * GNU Lesser General Public License LGPL and the BSD license for more details.
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00047  * You should have received a copy of the GNU Lesser General Public
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00050  ****************************************************************/
00051 #include "generic-joint/JointData.hpp"
00052 
00053 namespace youbot {
00054 
00055 JointSensedPWM::JointSensedPWM() {
00056   // Bouml preserved body begin 000CD971
00057   this->pwm = 0;
00058   // Bouml preserved body end 000CD971
00059 }
00060 
00061 JointSensedPWM::JointSensedPWM(const signed int& value) {
00062   // Bouml preserved body begin 000CFDF1
00063   this->pwm = value;
00064   // Bouml preserved body end 000CFDF1
00065 }
00066 
00067 JointSensedAngle::JointSensedAngle() {
00068   // Bouml preserved body begin 000CD771
00069   this->angle = 0 * radian;
00070   // Bouml preserved body end 000CD771
00071 }
00072 
00073 JointSensedAngle::JointSensedAngle(const quantity<plane_angle>& value) {
00074   // Bouml preserved body begin 000CFBF1
00075   this->angle = value;
00076   // Bouml preserved body end 000CFBF1
00077 }
00078 
00079 JointSensedEncoderTicks::JointSensedEncoderTicks() {
00080   // Bouml preserved body begin 000CD7F1
00081   this->encoderTicks = 0;
00082   // Bouml preserved body end 000CD7F1
00083 }
00084 
00085 JointSensedEncoderTicks::JointSensedEncoderTicks(const signed int& value) {
00086   // Bouml preserved body begin 000CFC71
00087   this->encoderTicks = value;
00088   // Bouml preserved body end 000CFC71
00089 }
00090 
00091 JointSensedVelocity::JointSensedVelocity() {
00092   // Bouml preserved body begin 000CD6F1
00093   this->angularVelocity = 0 * radian_per_second;
00094   // Bouml preserved body end 000CD6F1
00095 }
00096 
00097 JointSensedVelocity::JointSensedVelocity(const quantity<si::angular_velocity>& value) {
00098   // Bouml preserved body begin 000CFB71
00099   this->angularVelocity = value;
00100   // Bouml preserved body end 000CFB71
00101 }
00102 
00103 JointSensedRoundsPerMinute::JointSensedRoundsPerMinute() {
00104   // Bouml preserved body begin 000CD871
00105   this->rpm = 0;
00106   // Bouml preserved body end 000CD871
00107 }
00108 
00109 JointSensedRoundsPerMinute::JointSensedRoundsPerMinute(const int value) {
00110   // Bouml preserved body begin 000CFCF1
00111   this->rpm = value;
00112   // Bouml preserved body end 000CFCF1
00113 }
00114 
00115 JointSensedCurrent::JointSensedCurrent() {
00116   // Bouml preserved body begin 000CD8F1
00117   this->current = 0 * ampere;
00118   // Bouml preserved body end 000CD8F1
00119 }
00120 
00121 JointSensedCurrent::JointSensedCurrent(const quantity<si::current>& value) {
00122   // Bouml preserved body begin 000CFD71
00123   this->current = value;
00124   // Bouml preserved body end 000CFD71
00125 }
00126 
00127 JointSensedTorque::JointSensedTorque() {
00128   // Bouml preserved body begin 000CD671
00129   this->torque = 0 * newton_meter;
00130   // Bouml preserved body end 000CD671
00131 }
00132 
00133 JointSensedTorque::JointSensedTorque(const quantity<si::torque>& value) {
00134   // Bouml preserved body begin 000CFAF1
00135   this->torque = value;
00136   // Bouml preserved body end 000CFAF1
00137 }
00138 
00139 JointAngleSetpoint::JointAngleSetpoint() {
00140   // Bouml preserved body begin 000CDB71
00141   this->angle = 0 * radian;
00142   // Bouml preserved body end 000CDB71
00143 }
00144 
00145 JointAngleSetpoint::JointAngleSetpoint(const quantity<plane_angle>& value) {
00146   // Bouml preserved body begin 000CFF71
00147   this->angle = value;
00148   // Bouml preserved body end 000CFF71
00149 }
00150 
00151 JointVelocitySetpoint::JointVelocitySetpoint() {
00152   // Bouml preserved body begin 000CDAF1
00153   this->angularVelocity = 0 * radian_per_second;
00154   // Bouml preserved body end 000CDAF1
00155 }
00156 
00157 JointVelocitySetpoint::JointVelocitySetpoint(const quantity<angular_velocity>& value) {
00158   // Bouml preserved body begin 000CFEF1
00159   this->angularVelocity = value;
00160   // Bouml preserved body end 000CFEF1
00161 }
00162 
00163 JointRoundsPerMinuteSetpoint::JointRoundsPerMinuteSetpoint() {
00164   // Bouml preserved body begin 000CDCF1
00165   this->rpm = 0;
00166   // Bouml preserved body end 000CDCF1
00167 }
00168 
00169 JointRoundsPerMinuteSetpoint::JointRoundsPerMinuteSetpoint(const int value) {
00170   // Bouml preserved body begin 000D00F1
00171   this->rpm = value;
00172   // Bouml preserved body end 000D00F1
00173 }
00174 
00175 JointCurrentSetpoint::JointCurrentSetpoint() {
00176   // Bouml preserved body begin 000CDBF1
00177   this->current = 0 * ampere;
00178   // Bouml preserved body end 000CDBF1
00179 }
00180 
00181 JointCurrentSetpoint::JointCurrentSetpoint(const quantity<si::current>& value) {
00182   // Bouml preserved body begin 000CFFF1
00183   this->current = value;
00184   // Bouml preserved body end 000CFFF1
00185 }
00186 
00187 JointTorqueSetpoint::JointTorqueSetpoint() {
00188   // Bouml preserved body begin 000CDA71
00189   this->torque = 0 * newton_meter;
00190   // Bouml preserved body end 000CDA71
00191 }
00192 
00193 JointTorqueSetpoint::JointTorqueSetpoint(const quantity<si::torque>& value) {
00194   // Bouml preserved body begin 000CFE71
00195   this->torque = value;
00196   // Bouml preserved body end 000CFE71
00197 }
00198 
00199 JointPWMSetpoint::JointPWMSetpoint() {
00200   // Bouml preserved body begin 000CDC71
00201   this->pwm = 0;
00202   // Bouml preserved body end 000CDC71
00203 }
00204 
00205 JointPWMSetpoint::JointPWMSetpoint(const int value) {
00206   // Bouml preserved body begin 000D0071
00207   this->pwm = value;
00208   // Bouml preserved body end 000D0071
00209 }
00210 
00211 JointEncoderSetpoint::JointEncoderSetpoint() {
00212   // Bouml preserved body begin 000CDD71
00213   this->encoderTicks = 0;
00214   // Bouml preserved body end 000CDD71
00215 }
00216 
00217 JointEncoderSetpoint::JointEncoderSetpoint(const signed int& value) {
00218   // Bouml preserved body begin 000D0171
00219   this->encoderTicks = value;
00220   // Bouml preserved body end 000D0171
00221 }
00222 
00223 JointRampGeneratorVelocity::JointRampGeneratorVelocity() {
00224   // Bouml preserved body begin 00103DF1
00225   this->angularVelocity = 0 * radian_per_second;
00226   // Bouml preserved body end 00103DF1
00227 }
00228 
00229 JointRampGeneratorVelocity::JointRampGeneratorVelocity(const quantity<si::angular_velocity>& value) {
00230   // Bouml preserved body begin 00103E71
00231   this->angularVelocity = value;
00232   // Bouml preserved body end 00103E71
00233 }
00234 
00235 
00236 } // namespace youbot
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