virtual_arm.h
Go to the documentation of this file.00001 00026 #ifndef VIRTUAL_ARM_H_ 00027 #define VIRTUAL_ARM_H_ 00028 00029 #include "sr_hand/hand/sr_articulated_robot.h" 00030 00031 namespace shadowrobot 00032 { 00033 00034 class VirtualArm : public SRArticulatedRobot 00035 { 00036 public: 00040 VirtualArm(); 00042 ~VirtualArm(); 00043 00044 //virtual classes defined in SRArticulatedRobot 00055 virtual short sendupdate( std::string joint_name, double target ); 00056 00065 virtual JointData getJointData( std::string joint_name ); 00066 virtual JointsMap getAllJointsData(); 00067 00068 virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data ); 00069 virtual JointControllerData getContrl( std::string ctrlr_name ); 00070 00071 virtual short setConfig( std::vector<std::string> myConfig ); 00072 virtual void getConfig( std::string joint_name ); 00073 00079 virtual std::vector<DiagnosticData> getDiagnostics(); 00080 protected: 00081 #ifdef GAZEBO 00082 00086 ros::NodeHandle node, n_tilde; 00087 00088 void gazeboCallback(const sensor_msgs::JointStateConstPtr& msg); 00089 #endif 00090 00093 void initializeMap(); 00094 00100 inline double toRad( double deg ) 00101 { 00102 return deg * 3.14159265 / 180.0; 00103 } 00104 00110 inline double toDegrees( double rad ) 00111 { 00112 return rad * 180.0 / 3.14159265; 00113 } 00114 }; 00115 00116 }//end namespace 00117 00118 #endif /* VIRTUAL_ARM_H_ */