biotac.hpp
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00001 
00028 #ifndef _BIOTAC_HPP_
00029 #define _BIOTAC_HPP_
00030 
00031 #include <vector>
00032 #include <sr_robot_msgs/BiotacAll.h>
00033 #include <sr_robot_msgs/Biotac.h>
00034 #include <realtime_tools/realtime_publisher.h>
00035 
00036 #include "sr_robot_lib/generic_tactiles.hpp"
00037 #include "sr_robot_lib/generic_updater.hpp"
00038 
00039 namespace tactiles
00040 {
00041   template <class StatusType, class CommandType>
00042   class Biotac :
00043     public GenericTactiles<StatusType, CommandType>
00044   {
00045   public:
00046     Biotac(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
00047     Biotac(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state, boost::shared_ptr< std::vector<GenericTactileData> > init_tactiles_vector);
00048     ~Biotac() {};
00049 
00053     void init(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
00054 
00062     virtual void update(StatusType* status_data);
00063 
00068     virtual void publish();
00069 
00074     virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
00075                                  diagnostic_updater::DiagnosticStatusWrapper &d);
00076 
00077 
00078     virtual std::vector<AllTactileData>* get_tactile_data();
00079 
00080   protected:
00082     boost::shared_ptr< std::vector<BiotacData> > tactiles_vector;
00083 
00084     // Tactile sensor real time publisher
00085     boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::BiotacAll> > tactile_publisher;
00086   };//end class
00087 }//end namespace
00088 
00089 /* For the emacs weenies in the crowd.
00090 Local Variables:
00091    c-basic-offset: 2
00092 End:
00093 */
00094 
00095 #endif /* _SHADOW_PSTS_HPP_ */


sr_robot_lib
Author(s): Ugo Cupcic / ugo@shadowrobot.com , software@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:37:50