sr_diagnosticer.h

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#ifndef SR_HAND_SR_DIAGNOSTICER_H
#define SR_HAND_SR_DIAGNOSTICER_H

#include <ros/ros.h>
#include <boost/smart_ptr.hpp>

#include "sr_hand/hand/sr_articulated_robot.h"

using ros::NodeHandle;
using ros::Rate;
using ros::Publisher;
using shadowrobot::SRArticulatedRobot;

namespace shadowrobot
{

enum hardware_types
{
          sr_hand_hardware,
          sr_arm_hardware
};

class SRDiagnosticer
{
public:
  SRDiagnosticer(boost::shared_ptr<SRArticulatedRobot> sr_art_robot, hardware_types hw_type);

  ~SRDiagnosticer();

  void publish();

private:
  static const double palm_numb_msg_const;
  static const double palm_msg_rate_const;

  boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;

  NodeHandle node, n_tilde;
  Rate publish_rate;

  Publisher sr_diagnostics_pub;

  hardware_types hardware_type;
};  // end class ShadowhandDiagnosticer

}  // namespace shadowrobot

#endif  // SR_HAND_SR_DIAGNOSTICER_H