add vector get functions for svrData

lwrserv/include/SvrData.h

@@ -6,6 +6,7 @@
 #include <pthread.h>
 
 #include "Singleton.h"
+#include "vec.h"
 #include "friComm.h"
 
 
@@ -29,10 +30,10 @@ private:
 
     struct {
         struct {
-            float* velocity;
-            float* accelaration;
-            float* torque;
-            float* range;
+            float velocity[LBR_MNJ];
+            float accelaration[LBR_MNJ];
+            float torque[LBR_MNJ];
+            float range[LBR_MNJ];
         } max;
         unsigned int joints;
     } robot;
@@ -62,12 +63,19 @@ public:
 
     float getMaxTorque(unsigned int pos);
     int   getMaxTorque(float* data, size_t size);
+    Vec<float,LBR_MNJ> getMaxTorque();
 
-    float getMaxAccelaration(unsigned int pos);
-    int   getMaxAccelaration(float* data, size_t size);
+    float getMaxVelocity(unsigned int pos);
+    int   getMaxVelocity(float* data, size_t size);
+    Vec<float,LBR_MNJ> getMaxVelocity();
+
+    float getMaxAcceleration(unsigned int pos);
+    int   getMaxAcceleration(float* data, size_t size);
+    Vec<float,LBR_MNJ> getMaxAcceleration();
 
     float getMaxRange(unsigned int pos);
     int   getMaxRange(float* data, size_t size);
+    Vec<float,LBR_MNJ> getMaxRange();
 
     unsigned int getJoints();