mirror of
https://github.com/westonrobot/ugv_sdk
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44 lines
981 B
C++
44 lines
981 B
C++
/*
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* hunter_robot.hpp
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*
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* Created on: Jul 08, 2021 10:59
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* Description:
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*
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* Copyright (c) 2021 Weston Robot Pte. Ltd.
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*/
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#ifndef SCOUT_ROBOT_HPP
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#define SCOUT_ROBOT_HPP
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#include <memory>
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#include "ugv_sdk/details/interface/robot_common_interface.hpp"
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#include "ugv_sdk/details/interface/hunter_interface.hpp"
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namespace westonrobot {
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class HunterRobot : public RobotCommonInterface, public HunterInterface {
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public:
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HunterRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
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~HunterRobot();
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void Connect(std::string can_name) override;
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void EnableCommandedMode() override;
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void SetMotionCommand(double linear_vel, double angular_vel) override;
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void ResetRobotState() override;
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ProtocolVersion GetProtocolVersion() override;
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// get robot state
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HunterCoreState GetRobotState() override;
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HunterActuatorState GetActuatorState() override;
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private:
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RobotCommonInterface* robot_;
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};
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} // namespace westonrobot
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#endif /* SCOUT_ROBOT_HPP */
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