motion_ctrl.h
Go to the documentation of this file.
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
00011  *       notice, this list of conditions and the following disclaimer.
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.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #ifndef MOTOMAN_DRIVER_MOTION_CTRL_H
00033 #define MOTOMAN_DRIVER_MOTION_CTRL_H
00034 
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "motoman_driver/simple_message/motoman_motion_ctrl.h"
00037 #include "motoman_driver/simple_message/motoman_motion_reply.h"
00038 
00039 namespace motoman
00040 {
00041 namespace 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 MotomanMotionCtrl
00052 {
00053 public:
00057   MotomanMotionCtrl() {}
00058 
00059   bool init(SmplMsgConnection* connection, int robot_id);
00060 
00061 public:
00062   bool controllerReady();
00063   bool setTrajMode(bool enable);
00064   bool stopTrajectory();
00065 
00066   static std::string getErrorString(const MotionReply &reply);
00067 
00068 protected:
00069   SmplMsgConnection* connection_;
00070   int robot_id_;
00071 
00072   bool sendAndReceive(MotionControlCmd command, MotionReply &reply);
00073 };
00074 
00075 }  // namespace motion_ctrl
00076 }  // namespace motoman
00077 
00078 #endif  // MOTOMAN_DRIVER_MOTION_CTRL_H


motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Sat Jun 8 2019 19:06:57