my_robot_hw_4.h

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// Copyright (C) 2015, Shadow Robot Company Ltd.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_4_H
#define CONTROLLER_MANAGER_TESTS_MY_ROBOT_HW_4_H

#include <hardware_interface/force_torque_sensor_interface.h>
#include <hardware_interface/robot_hw.h>
#include <pluginlib/class_list_macros.hpp>

namespace combined_robot_hw_tests
{

class MyRobotHW4 : public hardware_interface::RobotHW
{
public:
  MyRobotHW4();
  virtual ~MyRobotHW4(){};
  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
  void read(const ros::Time& time, const ros::Duration& period);
  void write(const ros::Time& time, const ros::Duration& period);
  virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                             const std::list<hardware_interface::ControllerInfo>& stop_list);
  virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
                        const std::list<hardware_interface::ControllerInfo>& stop_list);

protected:

private:
  hardware_interface::ForceTorqueSensorInterface ft_sensor_interface_;
  hardware_interface::HardwareInterface a_plain_hw_interface_;

  double force_[3];
  double torque_[3];
  std::string sensor_name_;
  std::string frame_id_;
};
}


#endif