#include <sr_diagnosticer.h>

Public Member Functions
void	publish ()
	SRDiagnosticer (boost::shared_ptr< SRArticulatedRobot > sr_art_robot, hardware_types hw_type)
	~SRDiagnosticer ()
	Destructor.
Private Attributes
hardware_types	hardware_type
	store the hardware_type for this diagnosticer.
NodeHandle	n_tilde
NodeHandle	node
	ros node handle
Rate	publish_rate
	the rate at which the data will be published. This can be set by a parameter in the launch file.
boost::shared_ptr < SRArticulatedRobot >	sr_articulated_robot
	The shadowhand object (can be either an object connected to the real robot or a virtual hand).
Publisher	sr_diagnostics_pub
	The publisher which publishes the data to the \/diagnostics topic.
Static Private Attributes
static const double	palm_msg_rate_const = 4000.0
	const to convert the rate data to Hz
static const double	palm_numb_msg_const = 9.0
	const to convert the rate data to Hz

Detailed Description

Definition at line 60 of file sr_diagnosticer.h.

Constructor & Destructor Documentation

shadowrobot::SRDiagnosticer::SRDiagnosticer	(	boost::shared_ptr< SRArticulatedRobot >	sr_art_robot,
		hardware_types	hw_type
	)

Constructor initializing the ROS node, and setting the topic to which it publishes. The frequency at which this node will publish data is set by a parameter, read from ROS parameter server.

Parameters:

sr_art_robot	A SRArticulatedRobot object, where the information to be published comes from.
hw_type	The type of hardware we are publishing diagnostics about.

Definition at line 61 of file sr_diagnosticer.cpp.

shadowrobot::SRDiagnosticer::~SRDiagnosticer ( )

Destructor.

Definition at line 77 of file sr_diagnosticer.cpp.