00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef POWERCUBE_SIM_OROCOS 00019 #define POWERCUBE_SIM_OROCOS 00020 00021 00022 #include "OrocosRTTArmDriverInterface.h" 00023 #include "PowerCubeSim.h" 00024 #include <vector> 00025 00026 00027 00028 class PowerCubeSim_OROCOS : public OrocosRTTArmDriverInterface 00029 { 00030 public: 00031 00032 PowerCubeSim_OROCOS(std::string name); 00033 ~PowerCubeSim_OROCOS(); 00034 00035 00036 bool configureHook(); 00037 bool startHook(); 00038 void updateHook(); 00039 void stopHook(); 00040 void cleanupHook(){} 00041 00042 private: 00043 00044 void setMaxVelocityF(Jointd radpersec){} 00045 void setMaxVelocityFloatF(float radpersec){} 00046 void setMaxAccelerationF(Jointd radpersec){} 00047 void setMaxAccelerationFloatF(float radpersec){} 00048 00049 PowerCubeSim m_powercubectrl; 00050 bool stopArm(); 00051 bool isArmStopped(); 00052 00053 }; 00054 00055 #endif 00056