00001 00029 #ifndef _SR_GAZEBO_VIRTUAL_TACTILE_SENSOR_HPP_ 00030 #define _SR_GAZEBO_VIRTUAL_TACTILE_SENSOR_HPP_ 00031 00032 #include <ros/ros.h> 00033 00034 #include <boost/thread.hpp> 00035 00036 #include "sr_tactile_sensors/sr_generic_tactile_sensor.hpp" 00037 00038 #include <gazebo_plugins/ContactsState.h> 00039 00040 namespace shadowrobot 00041 { 00042 class SrGazeboVirtualTactileSensor : public SrGenericTactileSensor 00043 { 00044 public: 00045 SrGazeboVirtualTactileSensor(std::string name, std::string gazebo_topic); 00046 ~SrGazeboVirtualTactileSensor(); 00047 00048 protected: 00054 virtual double get_touch_data(); 00055 00056 private: 00057 ros::NodeHandle nh; 00058 boost::mutex touch_mutex; 00059 double touch_value; 00060 bool touch_freshdata; 00061 00062 ros::Subscriber sub; 00069 void callback(const gazebo_plugins::ContactsState& msg); 00070 }; 00071 00072 class SrGazeboVirtualTactileSensorManager : public SrTactileSensorManager 00073 { 00074 public: 00075 SrGazeboVirtualTactileSensorManager(); 00076 ~SrGazeboVirtualTactileSensorManager(); 00077 }; 00078 } 00079 00080 /* For the emacs weenies in the crowd. 00081 Local Variables: 00082 c-basic-offset: 2 00083 End: 00084 */ 00085 00086 #endif