#include <sr_virtual_tactile_sensor.hpp>

Inheritance diagram for shadowrobot::SrVirtualTactileSensor:

Public Member Functions
virtual double	get_touch_data ()

	SrVirtualTactileSensor (std::string name, std::string touch_name)

	~SrVirtualTactileSensor ()

Public Member Functions inherited from shadowrobot::SrGenericTactileSensor
void	publish_current_values ()

	SrGenericTactileSensor (std::string name, std::string touch_name)

virtual	~SrGenericTactileSensor ()

Private Member Functions
void	callback (const sr_robot_msgs::joints_dataConstPtr &msg)

Private Attributes
std::vector< std::string >	names_joints_linked

ros::NodeHandle	nh

ros::Subscriber	sub

boost::mutex	touch_mutex

double	touch_value

Detailed Description

Definition at line 45 of file sr_virtual_tactile_sensor.hpp.

Constructor & Destructor Documentation

shadowrobot::SrVirtualTactileSensor::SrVirtualTactileSensor	(	std::string	name,
		std::string	touch_name
	)

The Virtual Tactile sensors. For those sensor, we subscribe to the data coming from the hand and update the tactile sensor value based on this information. This should be extended to subscribe to a Gazebo touch sensor.

Parameters

name	the display name of the sensor
touch_name	the actual name of the touch sensor

Returns

Definition at line 38 of file sr_virtual_tactile_sensor.cpp.

shadowrobot::SrVirtualTactileSensor::~SrVirtualTactileSensor ( )

Definition at line 67 of file sr_virtual_tactile_sensor.cpp.

Member Function Documentation

void shadowrobot::SrVirtualTactileSensor::callback ( const sr_robot_msgs::joints_dataConstPtr & msg )

private

Callback function called when a msg is received on the shadowhand__data topic. Update the touch_value based on the joint positions of the joints contained in names_joints_linked.

Parameters