doxy-ocra-wbi-plugins/html/ExampleClient_8h_source.html

00001 #ifndef EXAMPLE_CLIENT_H
00002 #define EXAMPLE_CLIENT_H
00003
00004 #include <ocra-icub/IcubClient.h>
00005 #include <ocra-recipes/TrajectoryThread.h>
00006 #include <ocra-recipes/ControllerClient.h>
00007 // #include <ocra/control/Model.h>
00008
00009 class ExampleClient : public ocra_recipes::ControllerClient
00010 {
00011 DEFINE_CLASS_POINTER_TYPEDEFS(ExampleClient)
00012
00013 public:
00014     ExampleClient (std::shared_ptr<ocra::Model> modelPtr, const int loopPeriod);
00015     virtual ~ExampleClient ();
00016
00017 protected:
00018     virtual bool initialize();
00019     virtual void release();
00020     virtual void loop();
00021
00022 private:
00023
00024     double startTime;
00025     double waitTime;
00026     bool trigger;
00027     bool done;
00028     Eigen::MatrixXd waypoints;
00029
00030     std::shared_ptr<ocra_recipes::TrajectoryThread> leftHandTrajThread;
00031
00032     bool p1, p2, p3;
00033 };
00034
00035
00036 #endif // EXAMPLE_CLIENT_H