ContactHandler.h

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#ifndef CONTACT_HANDLER_H
#define CONTACT_HANDLER_H

#include <vrep_ros_plugin/GenericObjectHandler.h>


class ContactHandler : public GenericObjectHandler
{
public:
        ContactHandler();
        ~ContactHandler();

        void synchronize();

        void handleSimulation();

        unsigned int getObjectType() const;

        bool endOfSimulation();

protected:

        void _initialize();

        ros::Publisher _pub;

        double _acquisitionFrequency;

        simFloat _lastPublishedContact;

};

#endif // ifndef CONTACT_HANDLER_H