kinton_arm.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 _kinton_arm_driver_h_
#define _kinton_arm_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_kinton_arm/KintonArmConfig.h>

//include kinton_arm_driver main library
#include <kinton_arm_driver.h>

#include <iostream>
#include <vector>

using namespace std;

class KintonArmDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods

    k_arm_driver kinton_arm_driver_;

    //string bus_serial_;
    //int bus_baudrate_;



  public:
    typedef iri_kinton_arm::KintonArmConfig Config;

    Config config_;

    KintonArmDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void set_init_position();

    void set_new_positions(const std::vector<int>& new_pos);


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

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

    ~KintonArmDriver(void);
};

#endif