00001 00027 #ifndef VALVES_H_ 00028 #define VALVES_H_ 00029 00030 #include <robot/config.h> 00031 #include <robot/robot.h> 00032 #include <robot/hand.h> 00033 #include <robot/hand_protocol.h> 00034 #include <ros/ros.h> 00035 00036 #include <std_msgs/Float64.h> 00037 00038 namespace shadowrobot 00039 { 00040 00041 class Valves 00042 { 00043 public: 00047 Valves(); 00049 ~Valves(); 00050 00051 void publish(); 00052 00053 private: 00054 void valve_command(const std_msgs::Float64ConstPtr& msg, int index_valve); 00055 00056 std::vector<struct sensor> valves_sensors; 00057 00058 std::vector<ros::Publisher> valves_publishers; 00059 std::vector<ros::Subscriber> valves_subscribers; 00060 00061 ros::NodeHandle n_tilde; 00062 ros::Rate publish_rate; 00063 00064 void init_subs_and_pubs(int index_joint); 00065 }; 00066 00067 }//end namespace 00068 00069 #endif /* VALVES_H_ */ 00070 00071 /* For the emacs weenies in the crowd. 00072 Local Variables: 00073 c-basic-offset: 2 00074 End: 00075 */ 00076