sr_diagnosticer.h
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00001 
00029 #ifndef SR_DIAGNOSTICER_H_
00030 #define SR_DIAGNOSTICER_H_
00031 
00032 #include <ros/ros.h>
00033 #include <boost/smart_ptr.hpp>
00034 
00035 #include "sr_hand/hand/sr_articulated_robot.h"
00036 
00037 using namespace ros;
00038 using namespace shadowrobot;
00039 
00040 namespace shadowrobot
00041 {
00042 
00051 
00052 enum hardware_types
00053 {
00055     sr_hand_hardware,
00057     sr_arm_hardware
00058 };
00059 
00060 class SRDiagnosticer
00061 {
00062 public:
00070     SRDiagnosticer( boost::shared_ptr<SRArticulatedRobot> sr_art_robot, hardware_types hw_type );
00071 
00073     ~SRDiagnosticer();
00074 
00078     void publish();
00079 
00080 private:
00082     static const double palm_numb_msg_const;
00084     static const double palm_msg_rate_const;
00085 
00087     boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;
00088 
00090     NodeHandle node, n_tilde;
00092     Rate publish_rate;
00093 
00095     Publisher sr_diagnostics_pub;
00096 
00098     hardware_types hardware_type;
00099 }; // end class ShadowhandDiagnosticer
00100 
00101 } // end namespace
00102 
00103 #endif      /* !SR_DIAGNOSTICER_H_ */


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:03:25