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