dgm_single_motor.hpp

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#ifndef DGM_SINGLE_MOTOR_HH
#define DGM_SINGLE_MOTOR_HH

#include <dynamic_graph_manager/dynamic_graph_manager.hh>
#include <blmc_robots/single_motor.hpp>

namespace dg_blmc_robots
{

  typedef Eigen::Matrix<double, 1, 1> Vector1d;

  class DGMSingleMotor : public dynamic_graph::DynamicGraphManager
  {
  public:
    DGMSingleMotor();

    ~DGMSingleMotor();

    void initialize_hardware_communication_process();

    void get_sensors_to_map(dynamic_graph::VectorDGMap& map);

    void set_motor_controls_from_map(const dynamic_graph::VectorDGMap& map);
  private:

    blmc_robots::SingleMotor single_motor_;

    Vector1d ctrl_joint_torques_;

    bool was_in_safety_mode_;
  };


} // namespace dg_blmc_robots

#endif // DGM_SINGLE_MOTOR_HH