shadow_PSTs.hpp
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00001 
00028 #ifndef _SHADOW_PSTS_HPP_
00029 #define _SHADOW_PSTS_HPP_
00030 
00031 #include <vector>
00032 #include <sr_robot_msgs/ShadowPST.h>
00033 #include <realtime_tools/realtime_publisher.h>
00034 
00035 #include <sr_hardware_interface/tactile_sensors.hpp>
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 ShadowPSTs :
00043     public GenericTactiles<StatusType, CommandType>
00044   {
00045   public:
00046     ShadowPSTs(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
00047     ShadowPSTs(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 
00049     ~ShadowPSTs() {};
00050 
00051     void init(std::vector<generic_updater::UpdateConfig> update_configs_vector, operation_mode::device_update_state::DeviceUpdateState update_state);
00052 
00060     virtual void update(StatusType* status_data);
00061 
00066     virtual void publish();
00067 
00072     virtual void add_diagnostics(std::vector<diagnostic_msgs::DiagnosticStatus> &vec,
00073                                  diagnostic_updater::DiagnosticStatusWrapper &d);
00074 
00076     boost::shared_ptr< std::vector<PST3Data> > tactiles_vector;
00077 
00078     virtual std::vector<AllTactileData>* get_tactile_data();
00079 
00080   protected:
00081 
00082     // Tactile sensor real time publisher
00083     boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::ShadowPST> > tactile_publisher;
00084   };//end class
00085 }//end namespace
00086 
00087 /* For the emacs weenies in the crowd.
00088 Local Variables:
00089    c-basic-offset: 2
00090 End:
00091 */
00092 
00093 #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