virtual_shadowhand.h
Go to the documentation of this file.00001 00029 #ifndef VIRTUAL_SHADOWHAND_H_ 00030 # define VIRTUAL_SHADOWHAND_H_ 00031 00032 #include "sr_hand/hand/sr_articulated_robot.h" 00033 00034 namespace shadowrobot 00035 { 00043 class VirtualShadowhand : public SRArticulatedRobot 00044 { 00045 public: 00049 VirtualShadowhand(); 00051 ~VirtualShadowhand(); 00052 00053 //virtual classes defined in Shadowhand 00064 virtual short sendupdate( std::string joint_name, double target ); 00065 00074 virtual JointData getJointData( std::string joint_name ); 00075 virtual JointsMap getAllJointsData(); 00076 00077 virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data ); 00078 virtual JointControllerData getContrl( std::string ctrlr_name ); 00079 00080 virtual short setConfig( std::vector<std::string> myConfig ); 00081 virtual void getConfig( std::string joint_name ); 00082 00088 virtual std::vector<DiagnosticData> getDiagnostics(); 00089 protected: 00091 ros::NodeHandle node, n_tilde; 00092 00093 #ifdef GAZEBO 00094 00100 void gazeboCallback(const sensor_msgs::JointStateConstPtr& msg); 00101 #endif 00102 00106 void initializeMap(); 00107 00109 typedef std::map<std::string, JointControllerData> ControllersMap; 00111 ControllersMap controllers_map; 00112 00118 inline double toRad( double deg ) 00119 { 00120 return deg * 3.14159265 / 180.0; 00121 } 00122 00128 inline double toDegrees( double rad ) 00129 { 00130 return rad * 180.0 / 3.14159265; 00131 } 00132 }; //end class 00133 } 00134 #endif /* !VIRTUAL_SHADOWHAND_H_ */