00001 00011 #ifndef VIRTUAL_SHADOWHAND_LIBRARY_H_ 00012 #define VIRTUAL_SHADOWHAND_LIBRARY_H_ 00013 00014 #include "sr_hand/hand/sr_articulated_robot.h" 00015 00016 namespace shadowrobot 00017 { 00018 00019 class VirtualShadowhandLibrary : public virtual SRArticulatedRobot 00020 { 00021 public: 00022 VirtualShadowhandLibrary(); 00023 ~VirtualShadowhandLibrary(){}; 00024 00025 virtual short sendupdate( std::string joint_name, double target ); 00026 virtual JointData getJointData( std::string joint_name ); 00027 virtual JointsMap getAllJointsData(); 00028 00029 virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data ); 00030 virtual JointControllerData getContrl( std::string ctrlr_name ); 00031 00032 virtual short setConfig( std::vector<std::string> myConfig ); 00033 virtual void getConfig( std::string joint_name ); 00034 virtual std::vector<DiagnosticData> getDiagnostics(); 00035 };//end class 00036 00037 }//end namespace 00038 #endif /* VIRTUAL_SHADOWHAND_LIBRARY_H_ */