sr_hand: real_shadowhand.h Source File

00001 
00028 #ifndef         REAL_SHADOWHAND_H_
00029 # define        REAL_SHADOWHAND_H_
00030 
00031 #include <robot/config.h>
00032 #include "sr_hand/hand/sr_articulated_robot.h"
00033 
00034 namespace shadowrobot
00035 {
00039 class RealShadowhand : public SRArticulatedRobot
00040 {
00041 public:
00046     RealShadowhand();
00047 
00049     ~RealShadowhand();
00050 
00059     virtual short sendupdate( std::string joint_name, double target );
00060 
00061     virtual JointData getJointData( std::string joint_name );
00062     virtual JointsMap getAllJointsData();
00063 
00064     virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data );
00065     virtual JointControllerData getContrl( std::string contrlr_name );
00066     virtual short setConfig( std::vector<std::string> myConfig );
00067     virtual void getConfig( std::string joint_name );
00068     virtual std::vector<DiagnosticData> getDiagnostics();
00069 protected:
00070     /***
00071      * Initializes the mapping between the joint_names and their data. This function fetches the joint_names from
00072      * the robot code.
00073      */
00074     void initializeMap();
00075 }; //end class
00076 }
00077 #endif      /* !REAL_SHADOWHAND_H_ */