Fawkes API  Fawkes Development Version
katana6M180.h
00001 
00002 /***************************************************************************
00003  *  katana6M180.h - Fawkes to OpenRAVE Katana6M180 Manipulator Data
00004  *
00005  *  Created: Thu Sep 16 14:50:34 2010
00006  *  Copyright  2010  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_KATANA6M180_H_
00024 #define __PLUGINS_OPENRAVE_MANIPULATORS_KATANA6M180_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 OpenRaveManipulatorKatana6M180 : public OpenRaveManipulator
00034 {
00035  public:
00036   OpenRaveManipulatorKatana6M180(unsigned int count, unsigned int countDevice);
00037   virtual ~OpenRaveManipulatorKatana6M180();
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