This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp. More...

#include <shadowhand_to_cybergrasp_remapper.h>

Public Member Functions
	ShadowhandToCybergraspRemapper ()
	~ShadowhandToCybergraspRemapper ()
Private Member Functions
void	jointstatesCallback (const sensor_msgs::JointStateConstPtr &msg)
Private Attributes
CalibrationParser *	calibration_parser
	the calibration parser containing the mapping matrix
NodeHandle	n_tilde
NodeHandle	node
	ROS node handles.
Publisher	shadowhand_cybergrasp_pub
	publish to the cybergrasp /cybergraspforces topic
Subscriber	shadowhand_jointstates_sub
	subscribe to the shadowhand sendupdate topic

Detailed Description

This program remaps the force information contained in /joint_states coming from the hand to the /cybergraspforces topic used to control the cybergrasp.

Definition at line 48 of file shadowhand_to_cybergrasp_remapper.h.

Constructor & Destructor Documentation

shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::ShadowhandToCybergraspRemapper ( )

Init the publisher / subscriber, the joint names, read the calibratin matrix

Definition at line 45 of file shadowhand_to_cybergrasp_remapper.cpp.

shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::~ShadowhandToCybergraspRemapper ( )

Definition at line 75 of file shadowhand_to_cybergrasp_remapper.cpp.

Member Function Documentation

void shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper::jointstatesCallback ( const sensor_msgs::JointStateConstPtr & msg ) [private]

process the joint_states callback: receives the message from the shadowhand node, remap it to the Cybergrasp and publish this message on a given topic

Parameters: