fs100_motion_ctrl.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *       * Redistributions of source code must retain the above copyright
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00012  *       * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *       * Neither the name of the Southwest Research Institute, nor the names
00016  *       of its contributors may be used to endorse or promote products derived
00017  *       from this software without specific prior written permission.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef FS100_MOTION_CTRL_H
00033 #define FS100_MOTION_CTRL_H
00034 
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "fs100/simple_message/motoman_motion_ctrl.h"
00037 #include "fs100/simple_message/motoman_motion_reply.h"
00038 
00039 namespace motoman
00040 {
00041 namespace fs100_motion_ctrl
00042 {
00043 using industrial::smpl_msg_connection::SmplMsgConnection;
00044 using motoman::simple_message::motion_reply::MotionReply;
00045 typedef motoman::simple_message::motion_ctrl::MotionControlCmd MotionControlCmd;
00046 
00051 class FS100_MotionCtrl
00052 {
00053 
00054 public:
00055 
00059   FS100_MotionCtrl() {}
00060 
00061   bool init(SmplMsgConnection* connection, int robot_id);
00062 
00063 public:
00064   bool controllerReady();
00065   bool setTrajMode(bool enable);
00066   bool stopTrajectory();
00067 
00068   static std::string getErrorString(const MotionReply &reply);
00069 
00070 protected:
00071   SmplMsgConnection* connection_;
00072   int robot_id_;
00073 
00074   bool sendAndReceive(MotionControlCmd command, MotionReply &reply);
00075 
00076 };
00077 
00078 } //fs100_motion_ctrl
00079 } //motoman
00080 
00081 #endif /* FS100_MOTION_CTRL_H */
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14