joint_state_observer_oodl.h
Go to the documentation of this file.
00001 /******************************************************************************
00002  * Copyright (c) 2011
00003  * GPS GmbH
00004  *
00005  * Author:
00006  * Alexey Zakharov
00007  *
00008  *
00009  * This software is published under a dual-license: GNU Lesser General Public
00010  * License LGPL 2.1 and BSD license. The dual-license implies that users of this
00011  * code may choose which terms they prefer.
00012  *
00013  * Redistribution and use in source and binary forms, with or without
00014  * modification, are permitted provided that the following conditions are met:
00015  *
00016  * * Redistributions of source code must retain the above copyright
00017  * notice, this list of conditions and the following disclaimer.
00018  * * Redistributions in binary form must reproduce the above copyright
00019  * notice, this list of conditions and the following disclaimer in the
00020  * documentation and/or other materials provided with the distribution.
00021  * * Neither the name of GPS GmbH nor the names of its
00022  * contributors may be used to endorse or promote products derived from
00023  * this software without specific prior written permission.
00024  *
00025  * This program is free software: you can redistribute it and/or modify
00026  * it under the terms of the GNU Lesser General Public License LGPL as
00027  * published by the Free Software Foundation, either version 2.1 of the
00028  * License, or (at your option) any later version or the BSD license.
00029  *
00030  * This program is distributed in the hope that it will be useful,
00031  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00032  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00033  * GNU Lesser General Public License LGPL and the BSD license for more details.
00034  *
00035  * You should have received a copy of the GNU Lesser General Public
00036  * License LGPL and BSD license along with this program.
00037  *
00038  ******************************************************************************/
00039 
00040 #ifndef JOINTSTATEOBSERVEROODL_H
00041 #define JOINTSTATEOBSERVEROODL_H
00042 
00043 #include <youbot_oodl/youbot_trajectory_action_server/joint_state_observer.h>
00044 
00045 #include <brics_actuator/JointVelocities.h>
00046 #include <brics_actuator/JointTorques.h>
00047 #include <brics_actuator/JointPositions.h>
00048 
00049 namespace youBot
00050 {
00051 
00052 class YouBotOODLWrapper;
00053 
00054 class JointStateObserverOODL : public JointStateObserver
00055 {
00056 public:
00057   JointStateObserverOODL(YouBotOODLWrapper* youBot, int youBotArmIndex);
00058   JointStateObserverOODL(const JointStateObserverOODL& orig);
00059   virtual ~JointStateObserverOODL();
00060 
00061   virtual void updatePosition(const brics_actuator::JointPositions& positions);
00062   virtual void updateVelocity(const brics_actuator::JointVelocities& velocities);
00063   virtual void updateTorque(const brics_actuator::JointTorques& torques);
00064 
00065 private:
00066   YouBotOODLWrapper* youBot;
00067   int youBotArmIndex;
00068 };
00069 }
00070 
00071 #endif  /* JOINTSTATEOBSERVEROODL_H */
00072 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Friends Defines


youbot_oodl
Author(s): Sebastian Blumenthal
autogenerated on Fri Jul 26 2013 12:00:42