dynamixel_no_gripper_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _dynamixel_no_gripper_driver_h_
#define _dynamixel_no_gripper_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_dynamixel_no_gripper/DynamixelNoGripperConfig.h>

//include dynamixel_no_gripper_driver main library
#include <iridrivers/dynamixel_motor.h>
#include <iridrivers/dynamixel_motor_exceptions.h>
#include <iridrivers/dynamixel_gripper.h>

class DynamixelNoGripperDriver : public iri_base_driver::IriBaseDriver
{
    private:
        // private attributes and methods
        boost::shared_ptr<CDynamixelGripper> gripper_;
        std::string gripper_config_file_;
        std::string xml_path_;
        std::string full_path_;

    public:
        typedef iri_dynamixel_no_gripper::DynamixelNoGripperConfig Config;

        Config config_;

        DynamixelNoGripperDriver(void);

        bool openDriver(void);

        bool closeDriver(void);

        bool startDriver(void);

        bool stopDriver(void);

        void config_update(Config& new_cfg, uint32_t level=0);

        // here define all dynamixel_no_gripper_driver interface methods to retrieve and set
        // the driver parameters

        void scan_XML_files(void);
        bool open_gripper();

        bool close_gripper();

        void stop_gripper();

        float get_current_effort();

        float get_current_angle();

        bool is_at_max_angle();

        bool is_at_min_angle();

        void disable_gripper();

        ~DynamixelNoGripperDriver(void);

    private:
        bool move_gripper(const double position_in_radians);

};

#endif