joint_state.hpp

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#pragma once
 
#include <Eigen/Core>
 
#include "franky/robot_pose.hpp"
#include "franky/robot_velocity.hpp"
 
namespace franky {
 
class JointState {
 public:
  // Suppress implicit conversion warning
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wimplicit-conversion"
  JointState(Vector7d position) : position_(std::move(position)), velocity_(Vector7d::Zero()) {}
#pragma clang diagnostic pop
 
  JointState(Vector7d position, Vector7d velocity)
      : position_(std::move(position)), velocity_(std::move(velocity)) {}
 
  JointState(const JointState &) = default;
 
  JointState() = default;
 
  [[nodiscard]] inline Vector7d position() const {
    return position_;
  }
 
  [[nodiscard]] inline Vector7d velocity() const {
    return velocity_;
  }
 
  friend std::ostream& operator<<(std::ostream& os, const JointState& joint_state);
 
 private:
  Vector7d position_;
  Vector7d velocity_;
};
 
inline std::ostream& operator<<(std::ostream& os, const JointState& joint_state) {
  os << "JointState(position=" << joint_state.position_ << ", velocity=" << joint_state.velocity_ << ")";
  return os;
}
 
}  // namespace franky