VehicleApp.hpp
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  *  Author: Dula Nad
00035  *  Created: 12.02.2013.
00036  *********************************************************************/
00037 #ifndef VEHICLEAPP_HPP_
00038 #define VEHICLEAPP_HPP_
00039 #include <labust/vehicles/vehiclesfwd.hpp>
00040 
00041 #include <auv_msgs/BodyForceReq.h>
00042 #include <ros/ros.h>
00043 
00044 namespace labust
00045 {
00046         namespace vehicles
00047         {
00051                 class VehicleApp
00052                 {
00053                         enum {msgBuf = 10};
00054                 public:
00058                         VehicleApp();
00059 
00060                 protected:
00067                         void loadPlugin(const std::string& pluginName,
00068                                         const std::string& pluginConfig,
00069                                         const std::string& pluginId);
00073                         void subscribe(const std::string& tauName, const std::string& cmdName);
00077                         void publish(const std::string& stateName, const std::string& dataName);
00078 
00082                         void onTau(const std_msgs::String::ConstPtr& tau);
00086                         void onCmd(const std_msgs::String::ConstPtr& cmd);
00087 
00091                         ros::NodeHandle nhandle, phandle;
00095                         ros::Publisher state, data;
00099                         ros::Subscriber tau, cmd;
00103                         labust::vehicles::VehiclePluginPtr plugin;
00107                         labust::vehicles::DriverPtr uuv;
00108                 };
00109         }
00110 }
00111 
00112 
00113 /* VEHICLEAPP_HPP_ */
00114 #endif


labust_uvapp
Author(s): Dula Nad
autogenerated on Fri Feb 7 2014 11:36:37