00001 /***************************************************************************/ 00008 #ifndef JOINTCONTROLMANAGERWRIST_H_ 00009 #define JOINTCONTROLMANAGERWRIST_H_ 00010 00011 #include "robodyn_mechanisms/JointControlManagerInterface.h" 00012 #include "robodyn_mechanisms/JointControlActualWrist.h" 00013 #include "robodyn_mechanisms/JointControlCommandWrist.h" 00014 00015 class JointControlManagerWrist : public JointControlManagerInterface 00016 { 00017 public: 00018 JointControlManagerWrist(const std::string&, IoFunctions, double, const std::string&); 00019 virtual ~JointControlManagerWrist(); 00020 00021 bool verifyStates(void); 00022 bool verifyControlModeState(void); 00023 bool verifyCommandModeState(void); 00024 bool verifyCalibrationModeState(void); 00025 bool verifyClearFaultModeState(void); 00026 r2_msgs::JointControlData getActualStates(void); 00027 r2_msgs::JointControlData getCommandStates(void); 00028 void setCommandStates(const r2_msgs::JointControlData& command); 00029 diagnostic_msgs::DiagnosticStatus getFaults( ); 00030 00031 protected: 00032 void setParameters(); 00033 00034 private: 00035 const std::string logCategory; 00036 }; 00037 00038 #endif