Initial implementation of commander

include/ur_modern_driver/ur/commander.h

@@ -0,0 +1,27 @@
+#pragma once
+#include <array>
+#include <sstream>
+#include <iomanip>
+#include "ur_modern_driver/ur/stream.h"
+
+class URCommander
+{
+private:
+  URStream& stream_;
+
+protected:
+  bool write(std::string& s);
+
+public:
+  URCommander(URStream& stream) : stream_(stream)
+  {
+  }
+
+  virtual bool speedj(std::array<double, 6> &speeds, double acceleration);
+  virtual bool stopj(double a = 10.0);
+  virtual bool setDigitalOut(uint8_t pin, bool value);
+  virtual bool setAnalogOut(uint8_t pin, double value);
+  virtual bool setToolVoltage(uint8_t voltage);
+  virtual bool setFlag(bool value);
+  virtual bool setPayload(double value);
+};