_librk_arm.h

#pragma once
 
#include <memory>
 
#include "roboruka.h"
 
#include "RBControl_arm.hpp"
#include "rbprotocol.h"
 
namespace rk {
 
class ArmWrapper {
public:
    ArmWrapper();
    ~ArmWrapper();
 
    void setup(const rkConfig& cfg);
 
    std::unique_ptr<rbjson::Object> getInfo();
    void sendInfo();
    bool moveTo(double x, double y);
    void setGrabbing(bool grab);
    bool isGrabbing() const;
 
    bool getCurrentPosition(double& outX, double& outY) const;
 
private:
    ArmWrapper(const ArmWrapper&) = delete;
 
    rb::Arm* m_arm;
    std::vector<rb::Angle> m_bone_trims;
};
 
}; // namespace rk