00001 00029 #ifndef _SR_REAL_TACTILE_SENSOR_HPP_ 00030 #define _SR_REAL_TACTILE_SENSOR_HPP_ 00031 00032 #include <ros/ros.h> 00033 00034 //our robot code 00035 #include <robot/robot.h> 00036 #include <robot/hand.h> 00037 #include <robot/hand_protocol.h> 00038 00039 #include "sr_tactile_sensors/sr_generic_tactile_sensor.hpp" 00040 00041 namespace shadowrobot 00042 { 00043 class SrRealTactileSensor : public SrGenericTactileSensor 00044 { 00045 public: 00046 SrRealTactileSensor(std::string name, std::string touch_name); 00047 ~SrRealTactileSensor(); 00048 00049 protected: 00055 virtual double get_touch_data(); 00056 00057 private: 00058 struct sensor sensor_touch; 00059 int res_touch; 00060 }; 00061 00062 class SrRealTactileSensorManager : public SrTactileSensorManager 00063 { 00064 public: 00065 SrRealTactileSensorManager(); 00066 ~SrRealTactileSensorManager(); 00067 }; 00068 } 00069 00070 /* For the emacs weenies in the crowd. 00071 Local Variables: 00072 c-basic-offset: 2 00073 End: 00074 */ 00075 00076 #endif