joint_relay_handler.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  * Copyright (c) 2011, Southwest Research Institute
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00016  *       of its contributors may be used to endorse or promote products derived
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 
00033 #ifndef JOINT_HANDLER_H
00034 #define JOINT_HANDLER_H
00035 
00036 #include "simple_message/message_handler.h"
00037 #include "ros/ros.h"
00038 //#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
00039 #include <control_msgs/FollowJointTrajectoryAction.h>
00040 #include <control_msgs/FollowJointTrajectoryFeedback.h>
00041 #include <sensor_msgs/JointState.h>
00042 
00043 
00044 namespace adept
00045 {
00046 namespace joint_relay_handler
00047 {
00048 
00053 //* JointRelayHandler
00059 class JointRelayHandler : public industrial::message_handler::MessageHandler
00060 {
00061 
00062 public:
00063 
00069   JointRelayHandler(ros::NodeHandle &n);
00070 
00071 
00079 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);
00080 
00089 bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection)
00090 { return MessageHandler::init(msg_type, connection);};
00091 
00092 
00093 private:
00094 
00095   //pr2_controllers_msgs::JointTrajectoryControllerState joint_control_state_;
00096   control_msgs::FollowJointTrajectoryFeedback joint_control_state_;
00097   sensor_msgs::JointState joint_sensor_state_;
00098   ros::Publisher pub_joint_control_state_;
00099   ros::Publisher pub_joint_sensor_state_;
00100   ros::NodeHandle node_;
00101 
00102   static const int NUM_OF_JOINTS_ = 6;
00103 
00111  bool internalCB(industrial::simple_message::SimpleMessage & in);
00112 };
00113 
00114 }//ping_handler
00115 }//industrial
00116 
00117 
00118 #endif /* JOINT_HANDLER_H */


adept_common
Author(s): root
autogenerated on Fri Jan 3 2014 11:05:38