example.h
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00001 #ifndef __THREEMXL_EXAMPLE_H
00002 #define __THREEMXL_EXAMPLE_H
00003 
00004 #include <ros/ros.h>
00005 #include <threemxl/platform/hardware/dynamixel/CDxlGeneric.h>
00006 #include <threemxl/platform/hardware/dynamixel/CDxlGroup.h>
00007 
00009 class DxlROSExample
00010 {
00011   protected:
00012     ros::NodeHandle nh_;   
00013     CDxlGeneric *motor_;   
00014     CDxlGroup *motors_;    
00015     LxSerial serial_port_; 
00016 
00017   public:
00019     DxlROSExample() : nh_("~"), motor_(NULL) { }
00020     
00022 
00023     ~DxlROSExample()
00024     {
00025       if (motor_)
00026         delete motor_;
00027       if (serial_port_.is_port_open())
00028         serial_port_.port_close();
00029           
00030       nh_.shutdown();
00031     }
00032 
00034 
00035     void init(char *path);
00036     
00038 
00039     void spin();
00040 };    
00041 
00042 #endif /* __THREEMXL_EXAMPLE_H */


threemxl
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autogenerated on Thu Jun 6 2019 21:10:52