35 lines
886 B
C++
35 lines
886 B
C++
//
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// Created by linbo on 2025/10/22.
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//
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#ifndef CMVR_ES_ABSTRACTMOTORPROTOCOL_H
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#define CMVR_ES_ABSTRACTMOTORPROTOCOL_H
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#include "rapidxml/xml_parser.h"
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namespace cmvr::hardware
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{
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class AbstractMotorProtocol
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{
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public:
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explicit AbstractMotorProtocol(const XmlNode &cfg)
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{
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cfg_ = cfg;
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id_ = cfg.getAttrString("id");
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joint_name_ = cfg.getAttrString("joint_name");
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limitQLb_ = cfg.getAttrDefault("limitQLb_",3.14f);
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limitQUb_ = cfg.getAttrDefault("limitQUb_",3.14f);
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limitQd = cfg.getAttrDefault("limitQd",3.0f);
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}
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~AbstractMotorProtocol() = default;
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private:
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XmlNode cfg_;
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std::string id_;
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std::string joint_name_;
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double limitQLb_;
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double limitQUb_;
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double limitQd;
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};
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}
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#endif //CMVR_ES_ABSTRACTMOTORPROTOCOL_H
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