/* * This file is part of ArmarX. * * ArmarX is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License version 2 as * published by the Free Software Foundation. * * 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 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 RobotComponents * @author Patrick Grube * @copyright 2015 * @license http://www.gnu.org/licenses/gpl.txt * GNU General Public License */ #ifndef _ARMARX_ROBOTCOMPONENTS_UNITS_MMMPLAYERINTERFACE_SLICE_ #define _ARMARX_ROBOTCOMPONENTS_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(); bool loadTrajectory(string filename, string projects); int getNumberOfFrames(); int getCurrentFrame(); string getMotionPath(); StringList getJointNames(); void setCurrentFrame(int frame); bool setLoopPlayback(bool loop); int setUsePID(bool usePID); void setFPS(float FPS); bool setJointsInUse(string jointName, bool inUse); }; }; #endif