real_arm.h
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00001 
00026 #ifndef REAL_ARM_H_
00027 #define REAL_ARM_H_
00028 
00029 #include <robot/config.h>
00030 
00031 #include "sr_hand/hand/sr_articulated_robot.h"
00032 
00033 namespace shadowrobot
00034 {
00035 
00036 class RealArm : public SRArticulatedRobot
00037 {
00038 public:
00042   RealArm();
00044   ~RealArm();
00045 
00046   //virtual classes defined in SRArticulatedRobot
00056   virtual short sendupdate(std::string joint_name, double target);
00057 
00064   virtual JointData getJointData(std::string joint_name);
00065   virtual JointsMap getAllJointsData();
00066 
00067   virtual short setContrl(std::string contrlr_name, JointControllerData ctrlr_data);
00068   virtual JointControllerData getContrl(std::string ctrlr_name);
00069 
00070   virtual short setConfig(std::vector<std::string> myConfig);
00071   virtual void getConfig(std::string joint_name);
00072 
00077   virtual std::vector<DiagnosticData> getDiagnostics();
00078 protected:
00082   void initializeMap();
00083 };
00084 
00085 }//end namespace
00086 
00087 #endif /* REAL_ARM_H_ */


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:44:02