real_arm.h

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/*
* Copyright 2010 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef SR_HAND_HAND_REAL_ARM_H
#define SR_HAND_HAND_REAL_ARM_H

#include <robot/config.h>
#include <string>
#include <vector>

#include "sr_hand/hand/sr_articulated_robot.h"

namespace shadowrobot
{

class RealArm :
        public SRArticulatedRobot
{
public:
  RealArm();

  virtual ~RealArm();

  // virtual classes defined in SRArticulatedRobot
  virtual int16_t sendupdate(std::string joint_name, double target);

  virtual JointData getJointData(std::string joint_name);

  virtual JointsMap getAllJointsData();

  virtual int16_t setContrl(std::string contrlr_name, JointControllerData ctrlr_data);

  virtual JointControllerData getContrl(std::string ctrlr_name);

  virtual int16_t setConfig(std::vector <std::string> myConfig);

  virtual void getConfig(std::string joint_name);

  virtual std::vector <DiagnosticData> getDiagnostics();

protected:
  void initializeMap();
};

}  // namespace shadowrobot

#endif  // SR_HAND_HAND_REAL_ARM_H