#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <vector>
#include <string>
#include <mutex>
#include <termios.h>
#include "urbtc.h"
#include "urobotc.h"

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Classes
class	IxisImcs01Driver
Defines
#define	JOINT_INDEX_FRONT 2
#define	JOINT_INDEX_REAR_LEFT 1
#define	JOINT_INDEX_REAR_RIGHT 0
Enumerations
enum	RunningMode { FORWARD, BACK }
enum	RunningState { FORWARD, FORWARD_STOP, BACK, BACK_STOP, OTHERWISE }
Functions
template<typename N , typename M >
double	MAX (const N &a, const M &b)
template<typename N , typename M >
double	MIN (const N &a, const M &b)
template<typename T >
double	NORMALIZE (const T &z)