PowerCubeSim_OROCOS.h
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00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_powercube_chain
00013  * Description:
00014  *                                                              
00015  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016  *                      
00017  * Author: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
00018  * Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
00019  *
00020  * Date of creation: Dec 2009
00021  * ToDo:
00022  *
00023  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024  *
00025  * Redistribution and use in source and binary forms, with or without
00026  * modification, are permitted provided that the following conditions are met:
00027  *
00028  *     * Redistributions of source code must retain the above copyright
00029  *       notice, this list of conditions and the following disclaimer.
00030  *     * Redistributions in binary form must reproduce the above copyright
00031  *       notice, this list of conditions and the following disclaimer in the
00032  *       documentation and/or other materials provided with the distribution.
00033  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00034  *       Engineering and Automation (IPA) nor the names of its
00035  *       contributors may be used to endorse or promote products derived from
00036  *       this software without specific prior written permission.
00037  *
00038  * This program is free software: you can redistribute it and/or modify
00039  * it under the terms of the GNU Lesser General Public License LGPL as 
00040  * published by the Free Software Foundation, either version 3 of the 
00041  * License, or (at your option) any later version.
00042  * 
00043  * This program is distributed in the hope that it will be useful,
00044  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00045  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00046  * GNU Lesser General Public License LGPL for more details.
00047  * 
00048  * You should have received a copy of the GNU Lesser General Public 
00049  * License LGPL along with this program. 
00050  * If not, see <http://www.gnu.org/licenses/>.
00051  *
00052  ****************************************************************/
00053 
00054 #ifndef POWERCUBE_SIM_OROCOS
00055 #define POWERCUBE_SIM_OROCOS
00056 
00057 
00058 #include "OrocosRTTArmDriverInterface.h"
00059 #include "PowerCubeSim.h"
00060 #include <vector>
00061 
00062 
00063 
00064 class PowerCubeSim_OROCOS : public OrocosRTTArmDriverInterface
00065 {
00066 public:
00067 
00068         PowerCubeSim_OROCOS(std::string name);
00069         ~PowerCubeSim_OROCOS();
00070 
00071 
00072         bool configureHook();
00073         bool startHook();
00074         void updateHook();
00075         void stopHook();
00076         void cleanupHook(){}
00077 
00078 private:
00079 
00080         void setMaxVelocityF(Jointd radpersec){}
00081         void setMaxVelocityFloatF(float radpersec){}
00082         void setMaxAccelerationF(Jointd radpersec){}
00083         void setMaxAccelerationFloatF(float radpersec){}
00084 
00085         PowerCubeSim m_powercubectrl;
00086         bool stopArm();
00087         bool isArmStopped();
00088 
00089 };
00090 
00091 #endif
00092 
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schunk_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Tue Mar 5 2013 14:44:47