00001 00026 #ifndef REAL_ARM_H_ 00027 #define REAL_ARM_H_ 00028 00029 #include <robot/config.h> 00030 00031 #include "sr_hand/hand/sr_articulated_robot.h" 00032 00033 namespace shadowrobot 00034 { 00035 00036 class RealArm : public SRArticulatedRobot 00037 { 00038 public: 00042 RealArm(); 00044 ~RealArm(); 00045 00046 //virtual classes defined in SRArticulatedRobot 00056 virtual short sendupdate(std::string joint_name, double target); 00057 00064 virtual JointData getJointData(std::string joint_name); 00065 virtual JointsMap getAllJointsData(); 00066 00067 virtual short setContrl(std::string contrlr_name, JointControllerData ctrlr_data); 00068 virtual JointControllerData getContrl(std::string ctrlr_name); 00069 00070 virtual short setConfig(std::vector<std::string> myConfig); 00071 virtual void getConfig(std::string joint_name); 00072 00077 virtual std::vector<DiagnosticData> getDiagnostics(); 00078 protected: 00082 void initializeMap(); 00083 }; 00084 00085 }//end namespace 00086 00087 #endif /* REAL_ARM_H_ */