dgm_stuggihop.hpp

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#ifndef DGM_STUGGIHOP_HH
#define DGM_STUGGIHOP_HH

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

namespace dg_blmc_robots
{

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

    ~DGMStuggihop();


    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);

    virtual bool is_in_safety_mode();
  private:

    blmc_robots::Stuggihop stuggihop_;

    Eigen::Vector2d ctrl_joint_torques_;

    bool was_in_safety_mode_;
  };


} // namespace dg_blmc_robots

#endif // DGM_STUGGIHOP_HH