CAN_compatibility_arm.hpp
Go to the documentation of this file.00001 00031 #ifndef _CAN_COMPATIBILITY_ARM_HPP_ 00032 # define _CAN_COMPATIBILITY_ARM_HPP_ 00033 00034 #include "sr_hand/hand/sr_articulated_robot.h" 00035 #include <sensor_msgs/JointState.h> 00036 00037 namespace shadowrobot 00038 { 00044 class CANCompatibilityArm : public SRArticulatedRobot 00045 { 00046 public: 00050 ROS_DEPRECATED CANCompatibilityArm(); 00052 ~CANCompatibilityArm(); 00053 00054 //virtual classes defined in Shadowhand 00062 virtual short sendupdate( std::string joint_name, double target ); 00063 00070 virtual JointData getJointData( std::string joint_name ); 00071 virtual JointsMap getAllJointsData(); 00072 00073 virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data ); 00074 virtual JointControllerData getContrl( std::string ctrlr_name ); 00075 00076 virtual short setConfig( std::vector<std::string> myConfig ); 00077 virtual void getConfig( std::string joint_name ); 00078 00085 virtual std::vector<DiagnosticData> getDiagnostics(); 00086 protected: 00087 ros::NodeHandle node, n_tilde; 00088 00095 void joint_states_callback(const sensor_msgs::JointStateConstPtr& msg); 00096 00100 void initializeMap(); 00101 00103 std::vector< ros::Publisher > CAN_publishers; 00104 00106 ros::Subscriber joint_state_subscriber; 00107 }; //end class 00108 } 00109 00110 /* For the emacs weenies in the crowd. 00111 Local Variables: 00112 c-basic-offset: 2 00113 End: 00114 */ 00115 00116 00117 #endif /* !_ETHERCAT_COMPATIBILITY_HAND_HPP_ */