s_model_ethercat_client.h
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00001 #ifndef S_MODEL_ETHERCAT_CLIENT_H
00002 #define S_MODEL_ETHERCAT_CLIENT_H
00003 
00004 #include <robotiq_s_model_control/SModel_robot_output.h>
00005 #include <robotiq_s_model_control/SModel_robot_input.h>
00006 
00007 // Forward declaration of EtherCatManager
00008 namespace robotiq_ethercat
00009 {
00010   class EtherCatManager;
00011 }
00012 
00013 namespace robotiq_s_model_control
00014 {
00015 
00022 class SModelEtherCatClient
00023 {
00024 public:
00025   typedef robotiq_s_model_control::SModel_robot_output GripperOutput;
00026   typedef robotiq_s_model_control::SModel_robot_input GripperInput;
00027 
00038   SModelEtherCatClient(robotiq_ethercat::EtherCatManager& manager, int slave_no);
00039 
00045   void writeOutputs(const GripperOutput& output);
00046 
00051   GripperInput readInputs() const;
00052 
00057   GripperOutput readOutputs() const;
00058 
00059 private:
00060   robotiq_ethercat::EtherCatManager& manager_;
00061   const int slave_no_;
00062 };
00063 
00064 }
00065 
00066 #endif


robotiq_s_model_control
Author(s): Nicolas Lauzier (Robotiq inc.)
autogenerated on Thu Jun 6 2019 17:58:10