joint_state.h

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#ifndef OPEN_WALKER_CORE_JOINT_STATE_H
#define OPEN_WALKER_CORE_JOINT_STATE_H

#include <ow_core/joint_position.h>
#include <ow_core/joint_velocity.h>
#include <ow_core/joint_acceleration.h>
#include <ow_core/joint_effort.h>


namespace ow_core{

template<typename _Scalar, int _Rows>
class JointState
{
public:
    typedef _Scalar Scalar;

    enum
    {
        Rows = _Rows,
    };

    typedef VectorDof<Scalar,Rows> JVec;

    typedef JointPosition<Scalar,Rows> JPos;
    typedef JointVelocity<Scalar,Rows> JVel;
    typedef JointAcceleration<Scalar,Rows> JAcc;
    typedef JointEffort<Scalar,Rows> JTorque;

    static const JointState& Zero()
    {
      static JointState v;
      bool once = false;
      if(!once)
      {
        v.q() = JVec::Zero();
        v.qP() = JVec::Zero();
        v.qPP() = JVec::Zero();
        v.tau() = JVec::Zero();
        once = true;
      }
      return v;
    }

protected:
    JPos q_;
    JVel qP_;
    JAcc qPP_;
    JTorque tau_;

public:
    explicit JointState()
    {}

    JPos& q()
    {
        return q_;
    }

    const JPos& q() const
    {
        return q_;
    }

    JVel& qP()
    {
        return qP_;
    }

    const JVel& qP() const
    {
        return qP_;
    }

    JAcc& qPP()
    {
        return qPP_;
    }

    const JAcc& qPP() const
    {
        return qPP_;
    }

    JTorque& tau()
    {
        return tau_;
    }

    const JTorque& tau() const
    {
        return tau_;
    }


};


}

#endif // TUM_ICS_OPEN_WALKER_JOINT_STATE_H