motor_updater.hpp
Go to the documentation of this file.
00001 
00029 #ifndef _MOTOR_UPDATER_HPP_
00030 #define _MOTOR_UPDATER_HPP_
00031 
00032 #include <ros/ros.h>
00033 #include <vector>
00034 #include <list>
00035 #include <queue>
00036 #include <boost/thread.hpp>
00037 #include <boost/smart_ptr.hpp>
00038 #include "sr_robot_lib/generic_updater.hpp"
00039 
00040 #include <sr_external_dependencies/types_for_external.h>
00041 extern "C"
00042 {
00043   #include <sr_external_dependencies/external/0220_palm_edc/0220_palm_edc_ethercat_protocol.h>
00044 }
00045 
00046 namespace generic_updater
00047 {
00058   template <class CommandType>
00059   class MotorUpdater :
00060       public GenericUpdater<CommandType>
00061   {
00062   public:
00063     MotorUpdater(std::vector<UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
00064     ~MotorUpdater();
00065 
00073     operation_mode::device_update_state::DeviceUpdateState build_init_command(CommandType* command);
00074 
00083     operation_mode::device_update_state::DeviceUpdateState build_command(CommandType* command);
00084 
00085   private:
00087     int even_motors;
00088 
00089   };
00090 }
00091 
00092 
00093 /* For the emacs weenies in the crowd.
00094    Local Variables:
00095    c-basic-offset: 2
00096    End:
00097 */
00098 
00099 #endif


sr_robot_lib
Author(s): Ugo Cupcic / ugo@shadowrobot.com , software@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:37:50