JointState.hpp

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#ifndef BASE_JOINT_STATE_HPP
#define BASE_JOINT_STATE_HPP

#include <base/Float.hpp>
#include <stdexcept>

namespace base
{
    struct JointState
    {
        enum MODE
        { POSITION, SPEED, EFFORT, RAW, ACCELERATION, UNSET };

        double position;

        float speed;

        float effort;

        float raw;

        float acceleration;

        JointState()
            : position(base::unset<double>())
            , speed(base::unset<float>())
            , effort(base::unset<float>())
            , raw(base::unset<float>())
            , acceleration(base::unset<float>()) {}

        static JointState Position(double value);

        static JointState Speed(float value);

        static JointState Effort(float value);

        static JointState Raw(float value);

        static JointState Acceleration(float value);

        bool hasPosition() const;
        bool hasSpeed() const;
        bool hasEffort() const;
        bool hasRaw() const;
        bool hasAcceleration() const;

        bool isPosition() const;
        bool isSpeed() const;
        bool isEffort() const;
        bool isRaw() const;
        bool isAcceleration() const;

        double getField(int mode) const;

        void setField(int mode, double value);

        MODE getMode() const;
    };
}

#endif