DHDDriver.hpp

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/*
 * DHDDriver.h
 *
 *  Created on: Sep 27, 2011
 *      Author: mriedel
 */

#ifndef DHDDRIVER_H_
#define DHDDRIVER_H_

#include <map>

#include <ros/ros.h>

#include "DHDDevice.hpp"

#include <tk_haptics_base/HapticDeviceController.hpp>
#include <pluginlib/class_loader.h>

#include <telekyb_base/Options.hpp>

namespace TELEKYB_NAMESPACE
{

//class DHDDriverOptions : public OptionContainer
//{
//public:
//
//      Option< std::string >* tJoystickTopic;
//      Option< double >* tJoystickFrequency;
//      DHDDriverOptions();
//};

class DHDDriver {
protected:
        bool initError;

        // DeviceContainer
        std::set<DHDDevice*> devices;

        // Loader
        pluginlib::ClassLoader<HapticDeviceController> controllerLoader;


        void dhdInit();

public:
        DHDDriver();
        virtual ~DHDDriver();

        void start();
};

} // Namespace

#endif /* DHDDRIVER_H_ */