00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _iri_clothes_grasping_point_alg_h_ 00026 #define _iri_clothes_grasping_point_alg_h_ 00027 00028 #include <iri_clothes_grasping_point/IriClothesGraspingPointConfig.h> 00029 #include "mutex.h" 00030 00031 //include iri_clothes_grasping_point_alg main library 00032 00038 class IriClothesGraspingPointAlgorithm 00039 { 00040 protected: 00047 CMutex alg_mutex_; 00048 00049 // private attributes and methods 00050 00051 00052 public: 00059 typedef iri_clothes_grasping_point::IriClothesGraspingPointConfig Config; 00060 00067 Config config_; 00068 00077 IriClothesGraspingPointAlgorithm(); 00078 00079 00085 void lock(void) { alg_mutex_.enter(); }; 00086 00092 void unlock(void) { alg_mutex_.exit(); }; 00093 00101 bool try_enter(void) { return alg_mutex_.try_enter(); }; 00102 00114 void config_update(Config& new_cfg, uint32_t level=0); 00115 00116 // here define all iri_clothes_grasping_point_alg interface methods to retrieve and set 00117 // the driver parameters 00118 00125 ~IriClothesGraspingPointAlgorithm(); 00126 }; 00127 00128 #endif