virtual_shadowhand.h

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#ifndef         VIRTUAL_SHADOWHAND_H_
# define        VIRTUAL_SHADOWHAND_H_

#include "sr_hand/hand/sr_articulated_robot.h"

namespace shadowrobot
{
class VirtualShadowhand : public SRArticulatedRobot
{
public:
    VirtualShadowhand();
    ~VirtualShadowhand();

    //virtual classes defined in Shadowhand
    virtual short sendupdate( std::string joint_name, double target );

    virtual JointData getJointData( std::string joint_name );
    virtual JointsMap getAllJointsData();

    virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data );
    virtual JointControllerData getContrl( std::string ctrlr_name );

    virtual short setConfig( std::vector<std::string> myConfig );
    virtual void getConfig( std::string joint_name );

    virtual std::vector<DiagnosticData> getDiagnostics();
protected:
#ifdef GAZEBO

    ros::NodeHandle node, n_tilde;

    void gazeboCallback(const sensor_msgs::JointStateConstPtr& msg);
#endif

    void initializeMap();

    typedef std::map<std::string, JointControllerData> ControllersMap;
    ControllersMap controllers_map;

    inline double toRad( double deg )
    {
        return deg * 3.14159265 / 180.0;
    }

    inline double toDegrees( double rad )
    {
        return rad * 180.0 / 3.14159265;
    }
}; //end class
}
#endif      /* !VIRTUAL_SHADOWHAND_H_ */

---

sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 11 09:32:55 2013