PowerCubeSim_OROCOS.h

Go to the documentation of this file.

/*
 * 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