Cleaned up a bit and removed a few global vars

include/ur_modern_driver/ur_driver.h

@@ -0,0 +1,32 @@
+/*
+ * ur_driver
+ *
+ * ----------------------------------------------------------------------------
+ * "THE BEER-WARE LICENSE" (Revision 42):
+ * <thomas.timm.dk@gmail.com> wrote this file.  As long as you retain this notice you
+ * can do whatever you want with this stuff. If we meet some day, and you think
+ * this stuff is worth it, you can buy me a beer in return.   Thomas Timm Andersen
+ * ----------------------------------------------------------------------------
+ */
+
+#ifndef UR_DRIVER_H_
+#define UR_DRIVER_H_
+
+#include <mutex>
+#include <condition_variable>
+#include "ur_realtime_communication.h"
+
+class UrDriver {
+public:
+	UrRealtimeCommunication* rt_interface_;
+
+	UrDriver(std::condition_variable& msg_cond, std::string host,
+			uint safety_count_max = 12);
+	void start();
+	void halt();
+	void setSpeed(double q0, double q1, double q2, double q3, double q4,
+			double q5, double acc = 100.);
+
+};
+
+#endif /* UR_DRIVER_H_ */