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>
 
constexpr auto DEFAULT_ROBOT = "/robot/part";
 
namespace roboticslab
{
 
class ExampleRemoteControlBoard
{
public:
    int run(int argc, char **argv);
 
private:
    yarp::os::Network yarp; // connect to YARP network
    yarp::dev::PolyDriver dd; //create a YARP multi-use driver
    yarp::dev::IPositionControl *pos; //make a position controller object we call 'pos'
    yarp::dev::IEncoders *enc; //make an encoder controller object we call 'enc'
    yarp::dev::IVelocityControl *vel; //make a velocity controller object we call 'vel'
};
 
}  // namespace roboticslab
 
#endif // __roboticslab_SIM_EXAMPLE_HPP__