CAN_compatibility_arm.hpp

Go to the documentation of this file.

#ifndef    _CAN_COMPATIBILITY_ARM_HPP_
# define    _CAN_COMPATIBILITY_ARM_HPP_

#include "sr_hand/hand/sr_articulated_robot.h"
#include <sensor_msgs/JointState.h>

#include <string>
#include <vector>

namespace shadowrobot
{
class CANCompatibilityArm :
        public SRArticulatedRobot
{
public:
  ROS_DEPRECATED CANCompatibilityArm();

  virtual ~CANCompatibilityArm();

  // virtual classes defined in Shadowhand
  virtual int16_t sendupdate(std::string joint_name, double target);

  virtual JointData getJointData(std::string joint_name);

  virtual JointsMap getAllJointsData();

  virtual int16_t setContrl(std::string contrlr_name, JointControllerData ctrlr_data);

  virtual JointControllerData getContrl(std::string ctrlr_name);

  virtual int16_t setConfig(std::vector <std::string> myConfig);

  virtual void getConfig(std::string joint_name);

  virtual std::vector <DiagnosticData> getDiagnostics();

protected:
  ros::NodeHandle node, n_tilde;

  void joint_states_callback(const sensor_msgs::JointStateConstPtr &msg);

  void initializeMap();

  // This vector stores publishers to each joint controller.
  std::vector <ros::Publisher> CAN_publishers;

  // a subscriber for the /joint_states topic.
  ros::Subscriber joint_state_subscriber;
};  // end class
}  // namespace shadowrobot

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/


#endif  // _ETHERCAT_COMPATIBILITY_HAND_HPP_