Program Listing for File friLBRCommand.h

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#ifndef _KUKA_FRI_LBR_COMMAND_H
#define _KUKA_FRI_LBR_COMMAND_H


// forward declarations
typedef struct _FRICommandMessage FRICommandMessage;

namespace KUKA
{
namespace FRI
{

class LBRCommand
{
  friend class LBRClient;

public:
  void setJointPosition(const double * values);

  void setWrench(const double * wrench);

  void setTorque(const double * torques);

  void setBooleanIOValue(const char * name, const bool value);

  void setDigitalIOValue(const char * name, const unsigned long long value);

  void setAnalogIOValue(const char * name, const double value);

protected:
  static const int LBRCOMMANDMESSAGEID = 0x34001;
  FRICommandMessage * _cmdMessage;
  FRIMonitoringMessage * _monMessage;

};

}
}


#endif // _KUKA_FRI_LBR_COMMAND_H