kinton_arm.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _kinton_arm_driver_h_
00026 #define _kinton_arm_driver_h_
00027 
00028 #include <iri_base_driver/iri_base_driver.h>
00029 #include <iri_kinton_arm/KintonArmConfig.h>
00030 
00031 //include kinton_arm_driver main library
00032 #include <kinton_arm_driver.h>
00033 
00034 #include <iostream>
00035 #include <vector>
00036 
00037 using namespace std;
00038 
00058 class KintonArmDriver : public iri_base_driver::IriBaseDriver
00059 {
00060   private:
00061     // private attributes and methods
00062 
00063     k_arm_driver kinton_arm_driver_;
00064 
00065     //string bus_serial_;
00066     //int bus_baudrate_;
00067 
00068 
00069 
00070   public:
00077     typedef iri_kinton_arm::KintonArmConfig Config;
00078 
00085     Config config_;
00086 
00095     KintonArmDriver(void);
00096 
00107     bool openDriver(void);
00108 
00119     bool closeDriver(void);
00120 
00131     bool startDriver(void);
00132 
00143     bool stopDriver(void);
00144 
00159     void set_init_position();
00160 
00163     void set_new_positions(const std::vector<int>& new_pos);
00164 
00165 
00166     void config_update(Config& new_cfg, uint32_t level=0);
00167 
00168     // here define all kinton_arm_driver interface methods to retrieve and set
00169     // the driver parameters
00170 
00177     ~KintonArmDriver(void);
00178 };
00179 
00180 #endif
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kinton_arm
Author(s): asantamaria
autogenerated on Sat Sep 21 2013 12:13:00