00001 #ifndef SETTWIST_HANDLER_H 00002 #define SETTWIST_HANDLER_H 00003 00004 #include <vrep_ros_plugin/GenericObjectHandler.h> 00005 #include <geometry_msgs/TwistStamped.h> 00006 00015 class SetTwistHandler : public GenericObjectHandler 00016 { 00017 public: 00018 SetTwistHandler(); 00019 ~SetTwistHandler(); 00020 00024 void synchronize(); 00025 00029 void handleSimulation(); 00030 00034 unsigned int getObjectType() const; 00035 00036 protected: 00037 00041 void _initialize(); 00042 00046 ros::Subscriber _sub; 00047 00051 geometry_msgs::TwistStamped _twistCommands; 00052 00056 void TwistCommandCallback(const geometry_msgs::TwistStamped& msg); 00057 00061 simInt _isStatic; 00062 }; 00063 00064 00065 #endif // ndef SETTWIST_HANDLER_H