group_command.hpp

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#pragma once

#include "hebi.h"
#include "Eigen/Eigen"
#include "command.hpp"
#include <vector>

namespace hebi {

class GroupCommand final
{
  public:
    #ifndef DOXYGEN_OMIT_INTERNAL

    HebiGroupCommandPtr internal_;
    #endif // DOXYGEN_OMIT_INTERNAL

  private:
    const size_t number_of_modules_;
    std::vector<Command> commands_;

  public:
    GroupCommand(size_t number_of_modules);

    ~GroupCommand() noexcept; /* annotating specified destructor as noexcept is best-practice */

    size_t size() const;

    Command& operator[](size_t index);

    const Command& operator[](size_t index) const;

    bool readGains(const std::string& file);

    bool writeGains(const std::string& file) const;

    void setPosition(const Eigen::VectorXd& position);
    void setVelocity(const Eigen::VectorXd& velocity);
    void setEffort(const Eigen::VectorXd& effort);
    void setSpringConstant(const Eigen::VectorXd& springConstant);

    Eigen::VectorXd getPosition() const;
    Eigen::VectorXd getVelocity() const;
    Eigen::VectorXd getEffort() const;
    Eigen::VectorXd getSpringConstant() const;

    void getPosition(Eigen::VectorXd& out) const;
    void getVelocity(Eigen::VectorXd& out) const;
    void getEffort(Eigen::VectorXd& out) const;
    void getSpringConstant(Eigen::VectorXd& out) const;

};

} // namespace hebi