Obbart/universal_robots_ros_driver
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changed URCommander to use templated version of URStream

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This commit is contained in:
Tristan Schnell
2019-04-08 15:17:08 +02:00
parent 39a5935067
commit 326207e6c7
1 changed files with 9 additions and 6 deletions
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15
include/ur_rtde_driver/ur/commander.h
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@@ -1,4 +1,6 @@
/* /*
* Copyright 2019, FZI Forschungszentrum Informatik (templating)
*
* Copyright 2017, 2018 Simon Rasmussen (refactor) * Copyright 2017, 2018 Simon Rasmussen (refactor)
* *
* Copyright 2015, 2016 Thomas Timm Andersen (original version) * Copyright 2015, 2016 Thomas Timm Andersen (original version)
@@ -21,20 +23,21 @@
#include <iomanip> #include <iomanip>
#include <sstream> #include <sstream>
#include "ur_rtde_driver/comm/stream.h" #include "ur_rtde_driver/comm/stream.h"
#include "ur_rtde_driver/primary/package_header.h"
namespace ur_driver namespace ur_driver
{ {
class URCommander class URCommander
{ {
private: private:
comm::URStream& stream_; comm::URStream<primary_interface::PackageHeader>& stream_;
protected: protected:
bool write(const std::string& s); bool write(const std::string& s);
void formatArray(std::ostringstream& out, std::array<double, 6>& values); void formatArray(std::ostringstream& out, std::array<double, 6>& values);
public: public:
URCommander(comm::URStream& stream) : stream_(stream) URCommander(comm::URStream<primary_interface::PackageHeader>& stream) : stream_(stream)
{ {
} }
@@ -53,7 +56,7 @@ public:
class URCommander_V1_X : public URCommander class URCommander_V1_X : public URCommander
{ {
public: public:
URCommander_V1_X(comm::URStream& stream) : URCommander(stream) URCommander_V1_X(comm::URStream<primary_interface::PackageHeader>& stream) : URCommander(stream)
{ {
} }
@@ -65,7 +68,7 @@ public:
class URCommander_V3_X : public URCommander class URCommander_V3_X : public URCommander
{ {
public: public:
URCommander_V3_X(comm::URStream& stream) : URCommander(stream) URCommander_V3_X(comm::URStream<primary_interface::PackageHeader>& stream) : URCommander(stream)
{ {
} }
@@ -77,7 +80,7 @@ public:
class URCommander_V3_1__2 : public URCommander_V3_X class URCommander_V3_1__2 : public URCommander_V3_X
{ {
public: public:
URCommander_V3_1__2(comm::URStream& stream) : URCommander_V3_X(stream) URCommander_V3_1__2(comm::URStream<primary_interface::PackageHeader>& stream) : URCommander_V3_X(stream)
{ {
} }
@@ -87,7 +90,7 @@ public:
class URCommander_V3_3 : public URCommander_V3_X class URCommander_V3_3 : public URCommander_V3_X
{ {
public: public:
URCommander_V3_3(comm::URStream& stream) : URCommander_V3_X(stream) URCommander_V3_3(comm::URStream<primary_interface::PackageHeader>& stream) : URCommander_V3_X(stream)
{ {
} }