sr_subscriber.h
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00001 
00028 #ifndef SHADOWHAND_SUBSCRIBER_H_
00029 #define SHADOWHAND_SUBSCRIBER_H_
00030 
00031 #include <ros/ros.h>
00032 #include <vector>
00033 #include <string>
00034 #include <map>
00035 
00036 #include <boost/smart_ptr.hpp>
00037 
00038 //messages
00039 #include <sr_robot_msgs/joints_data.h>
00040 #include <sr_robot_msgs/joint.h>
00041 #include <sr_robot_msgs/contrlr.h>
00042 #include <sr_robot_msgs/sendupdate.h>
00043 #include <sr_robot_msgs/config.h>
00044 #include <sr_robot_msgs/reverseKinematics.h>
00045 
00046 #include "sr_hand/hand/sr_articulated_robot.h"
00047 
00048 using namespace ros;
00049 using namespace shadowrobot;
00050 
00051 namespace shadowrobot
00052 {
00053 
00058 class SRSubscriber
00059 {
00060 public:
00066     SRSubscriber( boost::shared_ptr<SRArticulatedRobot> sr_art_robot );
00067 
00069     ~SRSubscriber();
00070 
00071 private:
00073     NodeHandle node, n_tilde;
00074 
00076     boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;
00077 
00079     void init();
00080 
00082     //  CALLBACKS  //
00084 
00091     void sendupdateCallback( const sr_robot_msgs::sendupdateConstPtr& msg );
00093     Subscriber sendupdate_sub;
00094 
00100     void contrlrCallback( const sr_robot_msgs::contrlrConstPtr& msg );
00102     Subscriber contrlr_sub;
00103 
00108     void configCallback( const sr_robot_msgs::configConstPtr& msg );
00110     Subscriber config_sub;
00111 }; // end class ShadowhandSubscriber
00112 
00113 } // end namespace
00114 
00115 #endif      /* !SHADOWHAND_SUBSCRIBER_H_ */


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:44:02