00001 /*!@file Corba/Objects/BotArmControlServer.H control a robot via corba */ 00002 00003 //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Lior Elazary <lelazary@yahoo.com> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Corba/Objects/BotArmControlServer.H $ 00035 // $Id: BotArmControlServer.H 10794 2009-02-08 06:21:09Z itti $ 00036 // 00037 00038 #include <stdlib.h> 00039 #include <time.h> 00040 #include <unistd.h> 00041 #include <fcntl.h> 00042 #include <sys/types.h> 00043 #include <sys/stat.h> 00044 #include <signal.h> 00045 #include "Image/ColorOps.H" 00046 #include "Image/MathOps.H" 00047 #include "Image/Image.H" 00048 #include "Image/ImageSet.H" 00049 #include "Image/Pixels.H" 00050 #include "Image/PyramidOps.H" 00051 #include "Image/ShapeOps.H" 00052 #include "Image/Transforms.H" 00053 #include "Image/fancynorm.H" 00054 #include "Util/Assert.H" 00055 #include "Util/Timer.H" 00056 #include "Util/Types.H" 00057 #include "Component/ModelManager.H" 00058 #include "Corba/Objects/BotArmControlSK.hh" 00059 #include "Corba/ImageOrbUtil.H" 00060 #include "Devices/Scorbot.H" 00061 00062 00063 //The cmap object implimentation 00064 class BotArmControlServer : public POA_BotArmControl, 00065 public PortableServer::RefCountServantBase, 00066 public Scorbot 00067 { 00068 public: 00069 //object specific functions 00070 BotArmControlServer(OptionManager& mgr, bool debug); 00071 virtual ~BotArmControlServer(); 00072 00073 virtual short getEncoder(const short motor); 00074 virtual void setMotor(const short i, const float val); 00075 virtual void shutdown(); 00076 00077 }; 00078
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