motion_ctrl.h

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#ifndef MOTOMAN_DRIVER_MOTION_CTRL_H
#define MOTOMAN_DRIVER_MOTION_CTRL_H

#include "simple_message/smpl_msg_connection.h"
#include "motoman_driver/simple_message/motoman_motion_ctrl.h"
#include "motoman_driver/simple_message/motoman_motion_reply.h"

namespace motoman
{
namespace motion_ctrl
{
using industrial::smpl_msg_connection::SmplMsgConnection;
using motoman::simple_message::motion_reply::MotionReply;
typedef motoman::simple_message::motion_ctrl::MotionControlCmd MotionControlCmd;

class MotomanMotionCtrl
{

public:

  MotomanMotionCtrl() {}

  bool init(SmplMsgConnection* connection, int robot_id);

public:
  bool controllerReady();
  bool setTrajMode(bool enable);
  bool stopTrajectory();

  static std::string getErrorString(const MotionReply &reply);

protected:
  SmplMsgConnection* connection_;
  int robot_id_;

  bool sendAndReceive(MotionControlCmd command, MotionReply &reply);

};

} //motion_ctrl
} //motoman

#endif /* MOTOMAN_DRIVER_MOTION_CTRL_H */