humotion

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*/

#pragma once

#include "ros/ros.h"

#include "middleware.h"

#include "controller.h"

#include <cstdio>

#include <cstdint>

#include <string>

#include <boost/thread/thread.hpp>

namespace humotion{

namespace server{

class Server{

public:

    Server(std::string name, std::string mw, JointInterface *_joint_interface);

        ~Server();

    bool ok();

    static const float MOTION_UPDATERATE;

private:

    void start_motion_generation_thread();

    void motion_generation_thread();

    boost::thread *motion_generation_thread_ptr;

    Middleware *middleware;

    Controller *controller;

    JointInterface *joint_interface;

};

}

}