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sr_publisher.h

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#ifndef SHADOWHAND_PUBLISHER_H_
#define SHADOWHAND_PUBLISHER_H_

#include <boost/smart_ptr.hpp>

#include <ros/ros.h>
#include "sr_hand/hand/sr_articulated_robot.h"

using namespace ros;
using namespace shadowrobot;

namespace shadowrobot
{
class SRPublisher
{
public:
    SRPublisher( boost::shared_ptr<SRArticulatedRobot> sr_art_robot );

    ~SRPublisher();

    void publish();

private:
    NodeHandle node, n_tilde;
    Rate publish_rate;

    boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;

    Publisher sr_jointstate_pos_pub;
    Publisher sr_jointstate_target_pub;
    Publisher sr_pub;

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

} // end namespace

#endif      /* !SHADOWHAND_PUBLISHER_H_ */

---

sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Sat Mar 2 14:08:03 2013