sr_publisher.h

Go to the documentation of this file.

#ifndef SR_HAND_SR_PUBLISHER_H
#define SR_HAND_SR_PUBLISHER_H

#include <boost/smart_ptr.hpp>

#include <ros/ros.h>
#include "sr_hand/hand/sr_articulated_robot.h"

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

namespace shadowrobot
{
class SRPublisher
{
public:
  explicit SRPublisher(boost::shared_ptr<SRArticulatedRobot> sr_art_robot);

  ~SRPublisher();

  void publish();

private:
  NodeHandle node, n_tilde;
  Rate publish_rate;

  boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;

  Publisher sr_jointstate_pos_pub;
  Publisher sr_jointstate_target_pub;
  Publisher sr_pub;

  inline double toRad(double deg)
  {
    return deg * 3.14159265 / 180.0;
  }
};  // end class ShadowhandPublisher

}  // namespace shadowrobot

#endif  // SR_HAND_SR_PUBLISHER_H