/home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/Manipulator.h

//  Copyright (C) 2004-2010, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_COM_MANIPULATOR_H_
#define _REC_ROBOTINO_COM_MANIPULATOR_H_

#include "rec/robotino/com/Actor.h"
#include "rec/robotino/com/ManipulatorReadings.h"
#include "rec/robotino/com/ManipulatorLimits.h"

#include <vector>
#include <string>

namespace rec
{
        namespace robotino
        {
                namespace com
                {
                        class ManipulatorImpl;

                        class
#ifdef WIN32
#  ifdef rec_robotino_com_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com2_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com3_EXPORTS
                __declspec(dllexport)
#endif
#endif
                        Manipulator : public Actor
                        {
                        public:
                                Manipulator();

                                virtual ~Manipulator();

                                void setComId( const ComId& id );

                                void connectToServer();

                                void disconnectFromServer();

                                void setAddress( const std::string& address );

                                std::string address() const;

                                bool isConnected() const;

                                void setAxis( unsigned int axis, float angle, float speed );

                                void setAxes( const std::vector<float>& angles, const std::vector<float>& speeds );

                                void setPowerEnabled( unsigned int channel, bool enable );

                                void toggleTorque();

                                virtual void servoInfoCallback( const int numServos );

                                virtual void readingsCallback( const ManipulatorReadings& readings );

                                virtual void limitsCallback( const ManipulatorLimits& limits );

                                virtual void error( const std::string& message );

                                virtual void connected();

                                virtual void disconnected();

                        private:
                                ManipulatorImpl* _impl;
                        };
                }
        }
}
#endif

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