virtual_shadowhand_library.h

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#ifndef SR_HAND_HAND_VIRTUAL_SHADOWHAND_LIBRARY_H
#define SR_HAND_HAND_VIRTUAL_SHADOWHAND_LIBRARY_H

#include "sr_hand/hand/sr_articulated_robot.h"
#include <string>
#include <vector>

namespace shadowrobot
{

class VirtualShadowhandLibrary :
        public virtual SRArticulatedRobot
{
public:
  VirtualShadowhandLibrary();

  virtual ~VirtualShadowhandLibrary()
  {
  };

  virtual int16_t sendupdate(std::string joint_name, double target);

  virtual JointData getJointData(std::string joint_name);

  virtual JointsMap getAllJointsData();

  virtual int16_t setContrl(std::string contrlr_name, JointControllerData ctrlr_data);

  virtual JointControllerData getContrl(std::string ctrlr_name);

  virtual int16_t setConfig(std::vector<std::string> myConfig);

  virtual void getConfig(std::string joint_name);

  virtual std::vector<DiagnosticData> getDiagnostics();
};  // end class

}  // namespace shadowrobot
#endif  // SR_HAND_HAND_VIRTUAL_SHADOWHAND_LIBRARY_H