netft_example_controller.h

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#include <ros/ros.h>
#include "pr2_controller_interface/controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "netft_example_controllers/ForceTorqueStats.h"

namespace netft_example_controllers
{

class NetFTExampleController : public pr2_controller_interface::Controller
{
public:
  NetFTExampleController();
  ~NetFTExampleController();
  bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &nh);
  void starting();
  void update();

private:
  double max_force_;
  double max_torque_;

  pr2_hardware_interface::AnalogIn *analog_in_;

  realtime_tools::RealtimePublisher<netft_example_controllers::ForceTorqueStats> pub_;

  int pub_cycle_count_;
  bool should_publish_;
};


}//namespace netft_example_controllers