Robot.cpp

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#include "Robot.h"

#include "DebugMacro.h"

Robot::Robot(TrajectoryGenerator *tj) {
    DEBUG_OUT("Robot object created")
    trajectoryGenerator = tj;
}

Robot::~Robot() {
    DEBUG_OUT("Robot object deleted")
}
bool Robot::initialise() {
    if (initialiseJoints()) {
        if (initialiseNetwork()) {
            if (initialiseInputs()) {
                return true;
            } else {
                return false;
            }
        }
    } else
        return false;
}

void Robot::updateRobot() {
    for (auto joint : joints)
        joint->updateValue();
    // for (auto input : inputs)
    //     input->updateInput();
}

void Robot::printStatus() {
    std::cout << "Robot Joint Angles: ";
    for (auto joint : joints)
        std::cout << joint->getQ() << " ";
    std::cout << std::endl;
}

void Robot::getJointStatus(int J_i) {
    joints[J_i]->getStatus();
}