Katana300.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2011  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * Katana300.h
00020  *
00021  *  Created on: Dec 13, 2011
00022  *  Authors:
00023  *    Hannes Raudies <h.raudies@hs-mannheim.de>
00024  *    Martin Günther <mguenthe@uos.de>
00025  */
00026 
00027 #ifndef KATANA300_H_
00028 #define KATANA300_H_
00029 
00030 #include <ros/ros.h>
00031 #include <boost/thread/recursive_mutex.hpp>
00032 #include <boost/thread.hpp>
00033 
00034 #include <kniBase.h>
00035 
00036 #include <katana/SpecifiedTrajectory.h>
00037 #include <katana/AbstractKatana.h>
00038 #include <katana/KNIConverter.h>
00039 #include <katana/Katana.h>
00040 
00041 namespace katana
00042 {
00043 
00044 class Katana300 : public Katana
00045 {
00046 public:
00047   Katana300();
00048   virtual ~Katana300();
00049 
00050   virtual void setLimits();
00051 
00052   virtual bool executeTrajectory(boost::shared_ptr<SpecifiedTrajectory> traj,
00053                                  boost::function<bool()> isPreemptRequested);
00054 
00055   virtual void freezeRobot();
00056   virtual bool moveJoint(int jointIndex, double turningAngle);
00057 
00058   virtual void refreshMotorStatus();
00059   virtual bool allJointsReady();
00060   virtual bool allMotorsReady();
00061 
00062   virtual void testSpeed();
00063 
00064   static const double JOINTS_STOPPED_POS_TOLERANCE = 0.01;
00065   static const double JOINTS_STOPPED_VEL_TOLERANCE = 0.01;
00066 
00067 private:
00068   std::vector<double> desired_angles_;
00069 
00070 };
00071 
00072 }
00073 
00074 #endif /* KATANA300_H_ */


katana
Author(s): Martin Günther
autogenerated on Mon Oct 6 2014 10:46:04