test_joint_movement.hpp
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00001 
00027 #ifndef _TEST_JOINT_MOVEMENT_HPP_
00028 #define _TEST_JOINT_MOVEMENT_HPP_
00029 
00030 #include <sr_movements/movement_from_image.hpp>
00031 #include <sr_movements/movement_publisher.hpp>
00032 #include <sr_robot_msgs/JointControllerState.h>
00033 #include <std_msgs/Float64.h>
00034 #include <ros/ros.h>
00035 #include <sr_hand/hand_commander.hpp>
00036 #include <boost/smart_ptr.hpp>
00037 
00038 namespace shadow_robot
00039 {
00040   class TestJointMovement
00041   {
00042   public:
00043     TestJointMovement(std::string joint_name, shadowrobot::HandCommander* hand_commander);
00044     ~TestJointMovement() {};
00045 
00046     double mse;
00047     std::map<std::string, std::vector<double> > values;
00048 
00049   private:
00050     ros::Subscriber sub_;
00051     ros::Publisher pub_;
00052 
00053     ros::Subscriber sr_sub_state_;
00054     ros::Subscriber sub_state_;
00055     void sr_state_cb_(const sr_robot_msgs::JointControllerState::ConstPtr& msg);
00056     void state_cb_(const control_msgs::JointControllerState::ConstPtr& msg);
00057 
00058     ros::Subscriber mse_sub_;
00059     void mse_cb_(const std_msgs::Float64::ConstPtr& msg);
00060     std::string get_ROS_topic_type(std::string topic_name);
00061 
00062     boost::shared_ptr<shadowrobot::MovementFromImage> mvt_from_img_;
00063     boost::shared_ptr<shadowrobot::MovementPublisher> mvt_pub_;
00064 
00065     ros::NodeHandle nh_tilde_;
00066 
00067     boost::shared_ptr<boost::thread> thread_;
00068 
00069     std::string joint_name_;
00070     
00072     boost::shared_ptr<shadowrobot::HandCommander> hand_commander_;
00073   };
00074 }
00075 
00076 /* For the emacs weenies in the crowd.
00077    Local Variables:
00078    c-basic-offset: 2
00079    End:
00080 */
00081 
00082 #endif /* _TEST_JOINT_MOVEMENT_HPP_ */


sr_self_test
Author(s): Ugo Cupcic
autogenerated on Fri Aug 21 2015 12:25:57