SimulatedKatana.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * SimulatedKatana.h
00020  *
00021  *  Created on: 20.12.2010
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef SIMULATEDKATANA_H_
00026 #define SIMULATEDKATANA_H_
00027 
00028 #include "AbstractKatana.h"
00029 #include "spline_functions.h"
00030 
00031 namespace katana
00032 {
00033 
00034 class SimulatedKatana : public katana::AbstractKatana
00035 {
00036 public:
00037   SimulatedKatana();
00038   virtual ~SimulatedKatana();
00039 
00040   virtual void refreshEncoders();
00041   virtual bool executeTrajectory(boost::shared_ptr<SpecifiedTrajectory> traj,
00042                                  boost::function<bool()> isPreemptRequested);
00043   virtual void moveGripper(double openingAngle);
00044   virtual bool moveJoint(int jointIndex, double turningAngle);
00045 
00046   virtual bool someMotorCrashed();
00047   virtual bool allJointsReady();
00048   virtual bool allMotorsReady();
00049 
00050 private:
00051   boost::shared_ptr<SpecifiedTrajectory> current_trajectory_;
00052 };
00053 
00054 }
00055 
00056 #endif /* SIMULATEDKATANA_H_ */


katana
Author(s): Martin Günther
autogenerated on Thu Aug 27 2015 13:40:35