00001 00029 #ifndef SHADOWHAND_TO_CYBERGRASP_REMAPPER_H_ 00030 # define SHADOWHAND_TO_CYBERGRASP_REMAPPER_H_ 00031 00032 //messages 00033 #include <sensor_msgs/JointState.h> 00034 #include <cybergrasp/cybergraspforces.h> 00035 00036 #include "sr_remappers/calibration_parser.h" 00037 00038 using namespace ros; 00039 00040 namespace shadowhand_to_cybergrasp_remapper{ 00041 00048 class ShadowhandToCybergraspRemapper 00049 { 00050 public: 00054 ShadowhandToCybergraspRemapper(); 00055 ~ShadowhandToCybergraspRemapper(); 00056 00057 private: 00059 NodeHandle node, n_tilde; 00060 00062 Subscriber shadowhand_jointstates_sub; 00064 Publisher shadowhand_cybergrasp_pub; 00066 CalibrationParser* calibration_parser; 00067 00069 // CALLBACKS // 00071 00078 void jointstatesCallback(const sensor_msgs::JointStateConstPtr& msg); 00079 00080 }; // end class 00081 00082 } //end namespace 00083 00084 #endif /* !CYBERGRASP_TO_SHADOWHAND_REMAPPER_H_ */