24 #ifndef ROBOTIS_DEVICE_ROBOT_H_ 25 #define ROBOTIS_DEVICE_ROBOT_H_ 34 #define DYNAMIXEL "dynamixel" 35 #define SENSOR "sensor" 37 #define SESSION_CONTROL_INFO "control info" 38 #define SESSION_PORT_INFO "port info" 39 #define SESSION_DEVICE_INFO "device info" 41 #define SESSION_TYPE_INFO "type info" 42 #define SESSION_CONTROL_TABLE "control table" 44 #define DEFAULT_CONTROL_CYCLE 8 // milliseconds 55 std::map<std::string, dynamixel::PortHandler *>
ports_;
58 std::map<std::string, Dynamixel *>
dxls_;
61 Robot(std::string robot_file_path, std::string dev_desc_dir_path);
63 Sensor *
getSensor(std::string path,
int id, std::string port,
float protocol_version);
Dynamixel * getDynamixel(std::string path, int id, std::string port, float protocol_version)
Robot(std::string robot_file_path, std::string dev_desc_dir_path)
std::map< std::string, dynamixel::PortHandler * > ports_
std::map< std::string, Dynamixel * > dxls_
std::map< std::string, std::string > port_default_device_
std::map< std::string, Sensor * > sensors_
Sensor * getSensor(std::string path, int id, std::string port, float protocol_version)