ati_force_sensor_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _ati_force_sensor_driver_h_
#define _ati_force_sensor_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_ati_force_sensor/AtiForceSensorConfig.h>
#include "geometry_msgs/WrenchStamped.h"

//include ati_force_sensor_driver main library
#include "ati_force_sensor.h"

class AtiForceSensorDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    boost::shared_ptr<CAti_Force_Sensor> sensor_;
//    CAti_Force_Sensor sensor_;
    TATISysInfo sys_info_;
    TATICalInfo cal_info_;

    int filter_cutt_off_freq_; 
  public:
    typedef iri_ati_force_sensor::AtiForceSensorConfig Config;

    Config config_;

    AtiForceSensorDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all ati_force_sensor_driver interface methods to retrieve and set
    // the driver parameters

    std::string getNewSampleEventId(void) const;

    geometry_msgs::WrenchStamped getData(void);


    ~AtiForceSensorDriver(void);
};

#endif