robot_out_ports_cmd.h

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#ifndef OPEN_WALKER_CORE_IMPLEMENTATIONS_ROBOT_OUT_PORTS_CMD_H
#define OPEN_WALKER_CORE_IMPLEMENTATIONS_ROBOT_OUT_PORTS_CMD_H

#include <ow_core/types.h>
#include <ow_core/Interfaces/i_robot_out_ports_cmd.h>

namespace ow_core
{
class RobotOutPortsCmd :
    public IRobotOutPortsCmd,
    public IJoints
{
public:

protected:
  ow::JointState js_;

public:
    RobotOutPortsCmd() :
      js_(ow::JointState::Zero())
    {}

    virtual ~RobotOutPortsCmd()
    {
    }

    virtual IJoints* joints()
    {
      return this;
    }

    virtual const IJoints* joints() const
    {
      return this;
    }

    virtual ow::JointState& jointState()
    {
      return js_;
    }

    virtual const ow::JointState& jointState() const
    {
      return js_;
    }


};

}  // namespace ow_core


#endif  // OPEN_WALKER_CORE_IMPLEMENTATIONS_ROBOT_OUT_PORTS_CMD_H