Fawkes API  Fawkes Development Version
katana6M180.h
1 
2 /***************************************************************************
3  * katana6M180.h - Fawkes to OpenRAVE Katana6M180 Manipulator Data
4  *
5  * Created: Thu Sep 16 14:50:34 2010
6  * Copyright 2010 Bahram Maleki-Fard, AllemaniACs RoboCup Team
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_OPENRAVE_MANIPULATORS_KATANA6M180_H_
24 #define __PLUGINS_OPENRAVE_MANIPULATORS_KATANA6M180_H_
25 
26 #include "../manipulator.h"
27 
28 namespace fawkes {
29 #if 0 /* just to make Emacs auto-indent happy */
30 }
31 #endif
32 
34 {
35  public:
36  OpenRaveManipulatorKatana6M180(unsigned int count, unsigned int countDevice);
38 
39  virtual OpenRaveManipulatorPtr copy();
40 
41  private:
42  virtual float angle_OR_to_device(unsigned int number, float angle) const;
43  virtual float angle_device_to_OR(unsigned int number, float angle) const;
44 };
45 
46 } // end of namespace fawkes
47 
48 #endif
Class containing information about all katana6M180 motors.
Definition: katana6M180.h:33
Fawkes library namespace.
Class containing information about all manipulator motors.
Definition: manipulator.h:35
virtual OpenRaveManipulatorPtr copy()
Create a new copy of this OpenRaveManipulator instance.
Definition: katana6M180.cpp:57
virtual ~OpenRaveManipulatorKatana6M180()
Destructor.
Definition: katana6M180.cpp:49
OpenRaveManipulatorKatana6M180(unsigned int count, unsigned int countDevice)
Constructor.
Definition: katana6M180.cpp:43