valves.h

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#ifndef SR_HAND_HAND_VALVES_H
#define SR_HAND_HAND_VALVES_H

#include <robot/config.h>
#include <robot/robot.h>
#include <robot/hand.h>
#include <robot/hand_protocol.h>
#include <ros/ros.h>
#include <vector>

#include <std_msgs/Float64.h>

namespace shadowrobot
{
class Valves
{
public:
  Valves();

  ~Valves();

  void publish();

private:
  void valve_command(const std_msgs::Float64ConstPtr &msg, int index_valve);

  std::vector<struct sensor> valves_sensors;

  std::vector <ros::Publisher> valves_publishers;
  std::vector <ros::Subscriber> valves_subscribers;

  ros::NodeHandle n_tilde;
  ros::Rate publish_rate;

  void init_subs_and_pubs(int index_joint);
};

}  // namespace shadowrobot

#endif  // SR_HAND_HAND_VALVES_H

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