SimulatedKatana.h
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1 /*
2  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
3  * Copyright (C) 2010 University of Osnabrück
4  *
5  * This program is free software; you can redistribute it and/or
6  * modify it under the terms of the GNU General Public License
7  * as published by the Free Software Foundation; either version 2
8  * of the License, or (at your option) any later version.
9  *
10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program; if not, write to the Free Software
17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
18  *
19  * SimulatedKatana.h
20  *
21  * Created on: 20.12.2010
22  * Author: Martin Günther <mguenthe@uos.de>
23  */
24 
25 #ifndef SIMULATEDKATANA_H_
26 #define SIMULATEDKATANA_H_
27 
28 #include "AbstractKatana.h"
29 #include "spline_functions.h"
30 
31 namespace katana
32 {
33 
35 {
36 public:
38  virtual ~SimulatedKatana();
39 
40  virtual void refreshEncoders();
42  boost::function<bool()> isPreemptRequested);
43  virtual void moveGripper(double openingAngle);
44  virtual bool moveJoint(int jointIndex, double turningAngle);
45 
46  virtual bool someMotorCrashed();
47  virtual bool allJointsReady();
48  virtual bool allMotorsReady();
49 
50 private:
52 };
53 
54 }
55 
56 #endif /* SIMULATEDKATANA_H_ */
virtual bool someMotorCrashed()
boost::shared_ptr< SpecifiedTrajectory > current_trajectory_
virtual bool executeTrajectory(boost::shared_ptr< SpecifiedTrajectory > traj, boost::function< bool()> isPreemptRequested)
virtual bool moveJoint(int jointIndex, double turningAngle)
virtual void moveGripper(double openingAngle)
virtual void refreshEncoders()


katana
Author(s): Martin Günther
autogenerated on Fri Jun 7 2019 22:06:58