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/* Author: Elchay Rauper*/


#include <armadillo2_services/torso.h>

Torso::Torso(ros::NodeHandle &nh, const JointStateReader &joints_state)
{
    joints_state_ = &joints_state;
    nh_ = &nh;
    torso_pub_ = nh_->advertise<std_msgs::Float64>("/torso_effort_controller/command", 10);
}

bool Torso::command(float position)
{
    if (torso_pub_.getNumSubscribers() > 0)
    {
        std_msgs::Float64 cmd_msg;
        cmd_msg.data = position;
        torso_pub_.publish(cmd_msg);
        return true;
    }
    return false;
}

bool Torso::commandCurrentPos()
{
    return command(joints_state_->getJointsState().torso);
}