hand_commander.hpp
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00001 
00030 #pragma once
00031 
00032 #include <ros/ros.h>
00033 #include <vector>
00034 #include <string>
00035 #include <map>
00036 
00037 #include <boost/smart_ptr.hpp>
00038 #include <boost/ptr_container/ptr_map.hpp>
00039 #include <sr_robot_msgs/joint.h>
00040 #include <urdf/model.h>
00041 
00042 using namespace ros;
00043 
00044 namespace shadowhandRosLib
00045 {
00046   enum HandType
00047   {
00048     UNKNOWN,
00049     CAN,
00050     ETHERCAT
00051   };
00052 }
00053 
00054 namespace shadowrobot
00055 {
00060   class HandCommander
00061   {
00062   public:
00063     HandCommander(const std::string& ns = "");
00064 
00066     ~HandCommander();
00067 
00068     void sendCommands(std::vector<sr_robot_msgs::joint> joint_vector);
00069 
00078     std::string get_controller_state_topic(std::string joint_name);
00079 
00087     std::pair<double, double> get_min_max(std::string joint_name);
00088 
00095     std::vector<std::string> get_all_joints();
00096 
00097   private:
00099     NodeHandle node_;
00100 
00102     std::map<std::string, boost::shared_ptr<urdf::Joint> > all_joints;
00103 
00105     Publisher sr_hand_target_pub;
00107     boost::ptr_map<std::string,Publisher> sr_hand_target_pub_map;
00108 
00110     std::map<std::string, std::string> sr_hand_sub_topics;
00111 
00112     shadowhandRosLib::HandType hand_type;
00113     bool ethercat_controllers_found;
00114 
00119     void initializeEthercatHand();
00120 
00121     static const double TIMEOUT_TO_DETECT_CONTROLLER_MANAGER;
00122   }; // end class ShadowhandSubscriber
00123 
00124 } // end namespace
00125 
00126 /* For the emacs weenies in the crowd.
00127 Local Variables:
00128    c-basic-offset: 2
00129 End:
00130 */


sr_hand
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:08:51