virtual_shadowhand.h

Go to the documentation of this file.

#ifndef    SR_HAND_HAND_VIRTUAL_SHADOWHAND_H
#define    SR_HAND_HAND_VIRTUAL_SHADOWHAND_H

#include "sr_hand/hand/sr_articulated_robot.h"
#include <string>
#include <vector>
#include <map>

namespace shadowrobot
{
class VirtualShadowhand :
        public SRArticulatedRobot
{
public:
  VirtualShadowhand();

  virtual ~VirtualShadowhand();

  // 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;

#ifdef GAZEBO

  void gazeboCallback(const sensor_msgs::JointStateConstPtr& msg);
#endif

  void initializeMap();

  typedef std::map<std::string, JointControllerData> ControllersMap;
  ControllersMap controllers_map;

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

  inline double toDegrees(double rad)
  {
    return rad * 180.0 / 3.14159265;
  }
};  // end class
}  // namespace shadowrobot

#endif  // SR_HAND_HAND_VIRTUAL_SHADOWHAND_H