bhandforcekin.h

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// ***************************************************************************
//                        bhandforcekin.h
//                           -------------------
//    copyright            : (c) 2004 Tim Baier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************

#ifndef BHANDFORCEKIN_H
#define BHANDFORCEKIN_H

#include "bhandforce.h"
#include "bhkinematic.h"
#include "bhfinger.h"
#include "bhspread.h"

class BHandForceKin : public BHandForce , public BHKinematic
{
  public:
   BHandForceKin(std::string devName);

  virtual ~BHandForceKin();

  void move(const Motors motors, const float position) throw (BHandException);

  void move(const Motors motors, const float position[4]) throw (BHandException);

  void setPos(const Motors motors, const float position);
};


#endif //BHANDFORCEKIN_H

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Tim Baier bhandlib v0.25

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