Program Listing for File friLBRClient.h

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#ifndef _KUKA_FRI_LBR_CLIENT_H
#define _KUKA_FRI_LBR_CLIENT_H

#include <fri_client_sdk/friClientIf.h>
#include <fri_client_sdk/friLBRState.h>
#include <fri_client_sdk/friLBRCommand.h>

namespace KUKA
{
namespace FRI
{

class LBRClient : public IClient
{

public:
  LBRClient();

  ~LBRClient();

  virtual void onStateChange(ESessionState oldState, ESessionState newState);

  virtual void monitor();

  virtual void waitForCommand();

  virtual void command();

  const LBRState & robotState() const {return _robotState;}

  LBRCommand & robotCommand() {return _robotCommand;}

private:
  LBRState _robotState;
  LBRCommand _robotCommand;

  virtual ClientData * createData();

};

}
}


#endif // _KUKA_FRI_LBR_CLIENT_H