segway_rmp400_driver.h

Go to the documentation of this file.

// 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 _segway_rmp400_driver_h_
#define _segway_rmp400_driver_h_

#include <iridrivers/segway_RMP400.h>

#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_broadcaster.h>
#include <iri_base_driver/iri_base_driver.h>
#include <iri_segway_rmp_msgs/SegwayRMP400Status.h>
#include <iri_segway_rmp400/SegwayRmp400Config.h>

//include segway_rmp400_driver main library

class SegwayRmp400Driver : public iri_base_driver::IriBaseDriver
{
  private:
      CSegwayRMP400 * segway_;

  public:
    typedef iri_segway_rmp400::SegwayRmp400Config Config;

    Config config_;

    SegwayRmp400Driver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

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

    iri_segway_rmp_msgs::SegwayRMP400Status get_status(void);

    // here define all segway_rmp400_driver interface methods to retrieve and set
    // the driver parameters
    void move(const geometry_msgs::Twist::ConstPtr & msg);

    ~SegwayRmp400Driver();
};

#endif