Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
Coach.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of the Technische Universitaet Muenchen nor the names of
14 // its contributors may be used to endorse or promote products derived from
15 // this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 
30 #ifndef _RL_HAL_COACH_H_
31 #define _RL_HAL_COACH_H_
32 
33 #include <sstream>
34 #include <string>
35 
36 #include "JointPositionActuator.h"
37 
38 namespace rl
39 {
40  namespace hal
41  {
42  class TcpSocket;
43 
45  {
46  public:
47  Coach(
48  const ::std::size_t& dof,
50  const ::std::size_t& i = 0,
51  const ::std::string& host = "localhost",
52  const unsigned short int& port = 11235
53  );
54 
55  virtual ~Coach();
56 
57  void close();
58 
59  void open();
60 
62 
63  void start();
64 
65  void step();
66 
67  void stop();
68 
69  protected:
70 
71  private:
72  ::std::size_t i;
73 
75 
76  ::std::stringstream text;
77  };
78  }
79 }
80 
81 #endif // _RL_HAL_COACH_H_