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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package RobotAPI
* @author Thomas von der Heyde <tvh242 at hotmail dot com>
* @copyright 2014
* @license http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_ROBOTAPI_UNITS_MMMPLAYERINTERFACE_SLICE_
#define _ARMARX_ROBOTAPI_UNITS_MMMPLAYERINTERFACE_SLICE_
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
module armarx
{
interface MMMPlayerInterface extends KinematicUnitListener
{
bool startMMMPlayer();
bool pauseMMMPlayer();
bool stopMMMPlayer();
int loadTrajectory(string filename, string projects); //returns # of frames
int getCurrentFrame();
string getMotionPath();
StringList getJointNames();
void setCurrentFrame(int frame);
bool setLoopPlayback(bool loop);
bool setUsePID(bool usePID);
void setFPS(int FPS);
// void setJointsInUse(StringBoolMap useJoints);
};
};
#endif