YarpOpenraveRobotManager.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_OPENRAVE_ROBOT_MANAGER_HPP__
#define __YARP_OPENRAVE_ROBOT_MANAGER_HPP__
 
#include <yarp/dev/DeviceDriver.h>
 
#include <openrave/openrave.h>
 
#include <IRobotManager.hpp>
 
#include "YarpOpenraveBase.hpp"
 
namespace roboticslab
{
 
class YarpOpenraveRobotManager : YarpOpenraveBase,
                                 public yarp::dev::DeviceDriver,
                                 public asrob::IRobotManager
{
public:
    enum robot_mode
    {
        TRANSFORM_IDEALCONTROLLER,
        FOUR_WHEEL_IDEALVELOCITYCONTROLLER
    };
 
    // -------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp --------
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // ------- IRobotManager declarations. Implementation in IRobotManagerImpl.cpp -------
    bool moveForward(double value) override;
    bool turnLeft(double value) override;
    bool stopMovement() override;
    bool tiltDown(double value) override;
    bool panLeft(double value) override;
    bool stopCameraMovement() override;
 
private:
    robot_mode mode;
 
    // OpenRAVE
    OpenRAVE::ControllerBasePtr pcontrol;
};
 
} // namespace roboticslab
 
#endif // __YARP_OPENRAVE_ROBOT_MANAGER_HPP__