force_torque_sensor_controller.h

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// Copyright (C) 2012, hiDOF INC.
// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
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//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef FORCE_TORQUE_SENSOR_CONTROLLER_FORCE_TORQUE_SENSOR_CONTROLLER_H
#define FORCE_TORQUE_SENSOR_CONTROLLER_FORCE_TORQUE_SENSOR_CONTROLLER_H

#include <controller_interface/controller.h>
#include <hardware_interface/force_torque_sensor_interface.h>
#include <pluginlib/class_list_macros.h>
#include <geometry_msgs/WrenchStamped.h>
#include <realtime_tools/realtime_publisher.h>
#include <boost/shared_ptr.hpp>

namespace force_torque_sensor_controller
{

// this controller gets access to the ForceTorqueSensorInterface
class ForceTorqueSensorController: public controller_interface::Controller<hardware_interface::ForceTorqueSensorInterface>
{
public:
  ForceTorqueSensorController(){}

  virtual bool init(hardware_interface::ForceTorqueSensorInterface* hw, ros::NodeHandle &root_nh, ros::NodeHandle& controller_nh);
  virtual void starting(const ros::Time& time);
  virtual void update(const ros::Time& time, const ros::Duration& period);
  virtual void stopping(const ros::Time& time);

private:
  std::vector<hardware_interface::ForceTorqueSensorHandle> sensors_;
  typedef boost::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> > RtPublisherPtr;
  std::vector<RtPublisherPtr> realtime_pubs_;
  std::vector<ros::Time> last_publish_times_;
  double publish_rate_;
};

}

#endif