Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * neuronics_katana.h - Fawkes to OpenRAVE Neuronics Katana6M180 Manipulator Data 00004 * 00005 * Created: Thu Sep 08 15:34:52 2011 00006 * Copyright 2011 Bahram Maleki-Fard, AllemaniACs RoboCup Team 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_OPENRAVE_MANIPULATORS_NEURONICS_KATANA_H_ 00024 #define __PLUGINS_OPENRAVE_MANIPULATORS_NEURONICS_KATANA_H_ 00025 00026 #include "../manipulator.h" 00027 00028 namespace fawkes { 00029 #if 0 /* just to make Emacs auto-indent happy */ 00030 } 00031 #endif 00032 00033 class OpenRaveManipulatorNeuronicsKatana : public OpenRaveManipulator 00034 { 00035 public: 00036 OpenRaveManipulatorNeuronicsKatana(unsigned int count, unsigned int countDevice); 00037 virtual ~OpenRaveManipulatorNeuronicsKatana(); 00038 00039 00040 private: 00041 virtual float angle_OR_to_device(unsigned int number, float angle) const; 00042 virtual float angle_device_to_OR(unsigned int number, float angle) const; 00043 }; 00044 00045 } // end of namespace fawkes 00046 00047 #endif