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();
00043   virtual ~RealArm();
00044 
00045   //virtual classes defined in SRArticulatedRobot
00055   virtual short sendupdate(std::string joint_name, double target);
00056 
00063   virtual JointData getJointData(std::string joint_name);
00064   virtual JointsMap getAllJointsData();
00065 
00066   virtual short setContrl(std::string contrlr_name, JointControllerData ctrlr_data);
00067   virtual JointControllerData getContrl(std::string ctrlr_name);
00068 
00069   virtual short setConfig(std::vector<std::string> myConfig);
00070   virtual void getConfig(std::string joint_name);
00071 
00076   virtual std::vector<DiagnosticData> getDiagnostics();
00077 protected:
00081   void initializeMap();
00082 };
00083 
00084 }//end namespace
00085 
00086 #endif /* REAL_ARM_H_ */


sr_hand
Author(s): Ugo Cupcic
autogenerated on Fri Aug 21 2015 12:24:55