OpenraveYarpPlanner.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __OPENRAVE_YARP_PLANNER_HPP__
#define __OPENRAVE_YARP_PLANNER_HPP__
 
#include <yarp/os/Network.h>
#include <yarp/os/RpcServer.h>
 
#include <yarp/dev/PolyDriver.h>
 
#include <openrave/openrave.h>
#include <openrave/plugin.h>
 
#include "OypPortReader.hpp"
 
namespace roboticslab
{
 
class OpenraveYarpPlanner : public OpenRAVE::ModuleBase
{
public:
    OpenraveYarpPlanner(OpenRAVE::EnvironmentBasePtr penv);
    ~OpenraveYarpPlanner() override;
    void Destroy() override;
    int main(const std::string & cmd) override;
 
    bool Open(std::ostream & sout, std::istream & sinput);
 
private:
    yarp::os::Network yarp;
    OypPortReader oypPortReader;
    yarp::os::RpcServer oypRpcServer;
};
 
class OpenraveYarpPlannerPlugin : public RavePlugin
{
public:
    OpenRAVE::InterfaceBasePtr CreateInterface(OpenRAVE::InterfaceType type,
                                               const std::string & interfacename,
                                               std::istream & sinput,
                                               OpenRAVE::EnvironmentBasePtr penv) override;
 
    const InterfaceMap & GetInterfaces() const override;
    const std::string & GetPluginName() const override;
};
 
} // namespace roboticslab
 
#endif // __OPENRAVE_YARP_PLANNER_HPP__