00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _trajectory_force_capture_alg_node_h_ 00026 #define _trajectory_force_capture_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "trajectory_force_capture_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 00035 // [action server client headers] 00036 00041 class TrajectoryForceCaptureAlgNode : public algorithm_base::IriBaseAlgorithm<TrajectoryForceCaptureAlgorithm> 00042 { 00043 private: 00044 // [publisher attributes] 00045 00046 // [subscriber attributes] 00047 00048 // [service attributes] 00049 00050 // [client attributes] 00051 00052 // [action server attributes] 00053 00054 // [action client attributes] 00055 00056 public: 00063 TrajectoryForceCaptureAlgNode(void); 00064 00071 ~TrajectoryForceCaptureAlgNode(void); 00072 00073 protected: 00086 void mainNodeThread(void); 00087 00100 void node_config_update(Config &config, uint32_t level); 00101 00108 void addNodeDiagnostics(void); 00109 00110 // [diagnostic functions] 00111 00112 // [test functions] 00113 }; 00114 00115 #endif