biotac_hand_class.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2012, University of Pennsylvania
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of University of Pennsylvania nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Ian McMahon (imcmahon@grasp.upenn.edu)
00036 *********************************************************************/
00037 
00038 #ifndef BIOTACHANDCLASS_H_
00039 #define BIOTACHANDCLASS_H_
00040 
00041 
00042 #include <ros/ros.h>
00043 #include <biotac_sensors/BioTacHand.h>
00044 #include <vector>
00045 #include <string>
00046 
00047 using namespace std;
00048 
00049 namespace biotac {
00050 
00051 extern "C"{
00052 #include <biotac_sensors/biotac.h>
00053 }
00054 
00055 struct finger_info {
00056   string finger_serial;
00057   int finger_position;
00058 };
00059 
00060 class BioTacHandClass
00061 {
00062 private:
00063   bt_info biotac_;
00064   Cheetah ch_handle_;
00065   int number_of_samples_;
00066   std::vector<finger_info> biotac_serial_no_info_;
00067   string hand_id_;
00068   ros::Time frame_start_time_;
00069 
00070   biotac_sensors::BioTacHand bt_hand_msg_;
00071 
00072   enum{ PAC = 0, PDC = 1, TAC = 2, \
00073         TDC = 3, ELEC_LO = 17, ELEC_HI = 35};
00074 
00075   BioTac  getBioTacProperties();
00076   BioTac  configureBatch();
00077   void    displayErrors(BioTac bt_err_code);
00078 public:
00079   BioTacHandClass(string hand_id);
00080   ~BioTacHandClass();
00081   void initBioTacSensors();
00082   biotac_sensors::BioTacHand collectBatch();
00083 };
00084 
00085 }
00086 #endif


biotac_sensors
Author(s): Ian McMahon
autogenerated on Thu Aug 27 2015 12:35:30