00001 00029 #ifndef SHADOWHAND_TO_CYBERGLOVE_REMAPPER_H_ 00030 # define SHADOWHAND_TO_CYBERGLOVE_REMAPPER_H_ 00031 00032 //messages 00033 #include <sensor_msgs/JointState.h> 00034 #include "sr_remappers/calibration_parser.h" 00035 00036 using namespace ros; 00037 00038 namespace shadowhand_to_cyberglove_remapper{ 00039 00045 class ShadowhandToCybergloveRemapper 00046 { 00047 public: 00051 ShadowhandToCybergloveRemapper(); 00052 ~ShadowhandToCybergloveRemapper(){}; 00053 private: 00057 static const unsigned int number_hand_joints; 00058 00063 void init_names(); 00065 NodeHandle node, n_tilde; 00067 std::vector<std::string> joints_names; 00069 Subscriber cyberglove_jointstates_sub; 00071 Publisher shadowhand_pub; 00073 CalibrationParser* calibration_parser; 00074 00076 // CALLBACKS // 00078 00085 void jointstatesCallback(const sensor_msgs::JointStateConstPtr& msg); 00086 00087 }; // end class 00088 00089 } //end namespace 00090 00091 #endif /* !SHADOWHAND_TO_CYBERGLOVE_REMAPPER_H_ */