PowerCubeSim_OROCOS.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef POWERCUBE_SIM_OROCOS
#define POWERCUBE_SIM_OROCOS


#include "OrocosRTTArmDriverInterface.h"
#include "PowerCubeSim.h"
#include <vector>



class PowerCubeSim_OROCOS : public OrocosRTTArmDriverInterface
{
public:

        PowerCubeSim_OROCOS(std::string name);
        ~PowerCubeSim_OROCOS();


        bool configureHook();
        bool startHook();
        void updateHook();
        void stopHook();
        void cleanupHook(){}

private:

        void setMaxVelocityF(Jointd radpersec){}
        void setMaxVelocityFloatF(float radpersec){}
        void setMaxAccelerationF(Jointd radpersec){}
        void setMaxAccelerationFloatF(float radpersec){}

        PowerCubeSim m_powercubectrl;
        bool stopArm();
        bool isArmStopped();

};

#endif