ExampleRemoteControlBoard.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __roboticslab_SIM_EXAMPLE_HPP__
#define __roboticslab_SIM_EXAMPLE_HPP__
 
#include <yarp/os/Network.h>
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ControlBoardInterfaces.h>
 
namespace roboticslab
{
 
class ExampleRemoteControlBoard
{
public:
    int run(int argc, char **argv);
 
private:
    yarp::os::Network yarp;
    yarp::dev::PolyDriver dd;
    yarp::dev::IPositionControl * pos;
    yarp::dev::IEncoders * enc;
    yarp::dev::IVelocityControl * vel;
};
 
}  // namespace roboticslab
 
#endif // __roboticslab_SIM_EXAMPLE_HPP__