darwin_odom_twist_alg.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _darwin_odom_twist_alg_h_
00026 #define _darwin_odom_twist_alg_h_
00027 
00028 #include <iri_darwin_odom_twist/DarwinOdomTwistConfig.h>
00029 #include "mutex.h"
00030 
00031 //include darwin_odom_twist_alg main library
00032 
00038 class DarwinOdomTwistAlgorithm
00039 {
00040   protected:
00047     CMutex alg_mutex_;
00048 
00049     // private attributes and methods
00050 
00051   public:
00058     typedef iri_darwin_odom_twist::DarwinOdomTwistConfig Config;
00059 
00066     Config config_;
00067 
00076     DarwinOdomTwistAlgorithm(void);
00077 
00083     void lock(void) { alg_mutex_.enter(); };
00084 
00090     void unlock(void) { alg_mutex_.exit(); };
00091 
00099     bool try_enter(void) { return alg_mutex_.try_enter(); };
00100 
00112     void config_update(Config& new_cfg, uint32_t level=0);
00113 
00114     // here define all darwin_odom_twist_alg interface methods to retrieve and set
00115     // the driver parameters
00116 
00123     ~DarwinOdomTwistAlgorithm(void);
00124 };
00125 
00126 #endif


iri_darwin_odom_twist
Author(s): darwin
autogenerated on Fri Dec 6 2013 19:55:41