Enable dependency injection of the ethercat master #15
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By allowing the EtherCat master to be injected into each class, it is possible to design a plugin-based architecture for binding the youbot driver to a robotic software framework such as ROS or OROCOS: One component or plugin in the framework instantiates the EtherCat master and can then pass it to further components or plugins which are in turn responsible for communicating with either the base, the manipulator or the gripper. The dependency injection is optional. Thus, the default behaviour remains unchanged.
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By allowing the EtherCat master to be injected into each class, it is possible to design a plugin-based architecture for binding the youbot driver to a robotic software framework such as ROS or OROCOS: One component or plugin in the framework instantiates the EtherCat master and can then pass it to further components or plugins which are in turn responsible for communicating with either the base, the manipulator or the gripper.
The dependency injection is optional. Thus, the default behaviour remains unchanged.