Remove hand.h.orig.

diff --git a/wam_node_sim/include/wam_node_sim/hand.h.orig b/wam_node_sim/include/wam_node_sim/hand.h.orig
deleted file mode 100644 (file)
index b436029..0000000
--- a/wam_node_sim/include/wam_node_sim/hand.h.orig
+++ /dev/null
@@ -1,184 +0,0 @@
-/**
- *     Copyright 2009-2014 Barrett Technology <support@barrett.com>
- *
- *     This file is part of libbarrett.
- *
- *     This version of libbarrett is free software: you can redistribute it
- *     and/or modify it under the terms of the GNU General Public License as
- *     published by the Free Software Foundation, either version 3 of the
- *     License, or (at your option) any later version.
- *
- *     This version of libbarrett is distributed in the hope that it will be
- *     useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- *     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *     GNU General Public License for more details.
- *
- *     You should have received a copy of the GNU General Public License along
- *     with this version of libbarrett.  If not, see
- *     <http://www.gnu.org/licenses/>.
- *
- *
- *     Barrett Technology Inc.
- *     73 Chapel Street
- *     Newton, MA 02458
- */
-
-/*
- * @file hand.h
- * @date 11/09/2010
- * @author Dan Cody
- * 
- */
-
-#ifndef BARRETT_PRODUCTS_HAND_H_
-#define BARRETT_PRODUCTS_HAND_H_
-
-
-#include <vector>
-
-#include <Eigen/Core>
-
-#include <barrett/detail/ca_macro.h>
-#include <barrett/units.h>
-#include <barrett/products/abstract/multi_puck_product.h>
-#include <barrett/products/puck.h>
-#include <barrett/products/motor_puck.h>
-#include <barrett/products/tactile_puck.h>
-
-
-namespace barrett {
-
-
-class Hand : public MultiPuckProduct {
-public:
-       static const size_t DOF = 4;
-       BARRETT_UNITS_TYPEDEFS(DOF);
-
-
-       // Constants for referring to specific axes of the Hand
-       static const unsigned int F1         = 1 << 0;
-       static const unsigned int F2         = 1 << 1;
-       static const unsigned int F3         = 1 << 2;
-       static const unsigned int SPREAD     = 1 << 3;
-       static const unsigned int GRASP      = F1 | F2 | F3;
-       static const unsigned int WHOLE_HAND = GRASP | SPREAD;
-
-       /** Hand Constructor */
-       Hand(const std::vector<Puck*>& pucks);
-       /** Hand Destructor */
-       ~Hand();
-       /** initialize Method */
-       void initialize() const;
-       /** idle Method */
-       void idle() const { group.setProperty(Puck::MODE, MotorPuck::MODE_IDLE); }
-       /** doneMoving Method */
-       bool doneMoving(unsigned int whichDigits = WHOLE_HAND, bool realtime = false) const;
-       /** waitUntilDoneMoving Method */
-       void waitUntilDoneMoving(unsigned int whichDigits = WHOLE_HAND, double period_s = 0.1) const;
-
-       // Basic moves
-       /** open Method */
-       void open(unsigned int whichDigits = WHOLE_HAND, bool blocking = true) const;
-       /** open Method */
-       void open(bool blocking) const { open(WHOLE_HAND, blocking); }
-       /** close Method */
-       void close(unsigned int whichDigits = WHOLE_HAND, bool blocking = true) const;
-       /** close Method */
-       void close(bool blocking) const { close(WHOLE_HAND, blocking); }
-
-       // Preferred: low control-rate moves
-       /** trapezoidalMove Method */
-       void trapezoidalMove(const jp_type& jp, unsigned int whichDigits = WHOLE_HAND, bool blocking = true) const;
-       /** trapezoidalMove Method */
-       void trapezoidalMove(const jp_type& jp, bool blocking) const { trapezoidalMove(jp, WHOLE_HAND, blocking); }
-       /** velocityMove Method */
-       void velocityMove(const jv_type& jv, unsigned int whichDigits = WHOLE_HAND) const;
-
-       // Advanced: high control-rate moves
-       /** setPositionMode Method */
-       void setPositionMode(unsigned int whichDigits = WHOLE_HAND) const;
-       /** setPositionCommand Method */
-       void setPositionCommand(const jp_type& jp, unsigned int whichDigits = WHOLE_HAND) const;
-       /** setTorqueMode Method */
-       void setTorqueMode(unsigned int whichDigits = WHOLE_HAND) const;
-       /** setTorqueCommand Method */
-       void setTorqueCommand(const jt_type& jt, unsigned int whichDigits = WHOLE_HAND) const;
-
-
-       // Sensors
-       static const unsigned int S_POSITION          = 1 << 0;
-       static const unsigned int S_FINGERTIP_TORQUE = 1 << 1;
-       static const unsigned int S_TACT_FULL         = 1 << 2;
-       static const unsigned int S_ALL = S_POSITION | S_FINGERTIP_TORQUE | S_TACT_FULL;
-       /** update Method */
-       void update(unsigned int sensors = S_ALL, bool realtime = false);
-       /** getInnerLinkPosition Method */
-       const jp_type& getInnerLinkPosition() const { return innerJp; }
-       /** getOuterLinkPosition Method */
-       const jp_type& getOuterLinkPosition() const { return outerJp; }
-       /** getPrimaryEncoderPosition Method */
-       const std::vector<int>& getPrimaryEncoderPosition() const { return primaryEncoder; }
-       /** getSecondaryEncoderPosition Method */
-       const std::vector<int>& getSecondaryEncoderPosition() const { return secondaryEncoder; }
-       /** enableBreakawayEncoders Method actives or deactivates the Secondary Encoders */
-       void enableBreakawayEncoders(bool enable) { useSecondaryEncoders = enable; }  // Enabled by default.
-       /** hasFingertipTorqueSensors Method returns status of installed fingertip torque sensors */
-       bool hasFingertipTorqueSensors() const { return hasFtt; }
-       /** getFingertipTorque Method gets the fingertip torques in torque units */
-       const std::vector<int>& getFingertipTorque() const { return ftt; }
-       /** hasTactSensors Method returns whether or not Tactile Sensors are present on hand. */
-       bool hasTactSensors() const { return hasTact; }
-       /** getTactilePucks Method creates container of pucks to get tactile sensor data from possible locations */
-       const std::vector<TactilePuck*>& getTactilePucks() const { return tactilePucks; }
-
-
-       static const size_t SPREAD_INDEX = 3;
-
-protected:
-       /** */
-       bool digitsInclude(unsigned int whichDigits, size_t index) const { return whichDigits & (1 << index); }
-       /** */
-       void setProperty(unsigned int whichDigits, enum Puck::Property prop, int value) const;
-       /** */
-       void setProperty(unsigned int whichDigits, enum Puck::Property prop, const v_type& values) const;
-       /** */
-       void blockIf(bool blocking, unsigned int whichDigits) const;
-
-
-       static const double J2_RATIO = 125.0;
-       static const double J2_ENCODER_RATIO = 50.0;
-       static const double J3_RATIO = 375.0;
-       static const double SPREAD_RATIO = 17.5;
-
-
-       bool hasFtt;
-       bool hasTact;
-       bool useSecondaryEncoders;
-
-       int holds[DOF];
-       v_type j2pp, j2pt;
-       mutable v_type pt;
-
-       std::vector<MotorPuck::CombinedPositionParser<int>::result_type> encoderTmp;
-       std::vector<int> primaryEncoder, secondaryEncoder;
-       jp_type innerJp, outerJp;
-       std::vector<int> ftt;
-       std::vector<TactilePuck*> tactilePucks;
-
-private:
-       static const int CMD_HI    = 13;
-       static const int CMD_CLOSE = 18;
-       static const int CMD_OPEN  = 20;
-       static const enum Puck::Property props[];
-
-       DISALLOW_COPY_AND_ASSIGN(Hand);
-
-public:
-       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-};
-
-
-}
-
-
-#endif /* BARRETT_PRODUCTS_HAND_H_ */