JointTorques.h

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/* ============================================================
 *
 * This file is a part of RCI project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>
#include <sstream>
#include <math.h>
#include <boost/shared_ptr.hpp>

#include "rci/dto/JointValues.h"

namespace rci {

class JointTorques;
typedef boost::shared_ptr<JointTorques> JointTorquesPtr;

class JointTorques: public JointValues {

public:

    static JointTorquesPtr fromNm(double value);
    static JointTorquesPtr fromNm(const nemo::RealVector& values);

    JointTorques();

    JointTorques(const nemo::RealVector& values);

    JointTorques(double value);

    static JointTorquesPtr create(unsigned int dimension, double value = 0.0);

    virtual double Nm(unsigned int index) const;
    virtual nemo::RealVector NmVector() const;

    virtual void setFromNm(unsigned int index, double value);
    virtual void setFromNm(const nemo::RealVector& values);

    static JointTorquesPtr copy(const JointTorques&);

protected:
    virtual std::string print() const;
};

}