sr_publisher.h
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00001 
00029 #ifndef SHADOWHAND_PUBLISHER_H_
00030 #define SHADOWHAND_PUBLISHER_H_
00031 
00032 #include <boost/smart_ptr.hpp>
00033 
00034 #include <ros/ros.h>
00035 #include "sr_hand/hand/sr_articulated_robot.h"
00036 
00037 using namespace ros;
00038 using namespace shadowrobot;
00039 
00040 namespace shadowrobot
00041 {
00051 class SRPublisher
00052 {
00053 public:
00060     SRPublisher( boost::shared_ptr<SRArticulatedRobot> sr_art_robot );
00061 
00063     ~SRPublisher();
00064 
00068     void publish();
00069 
00070 private:
00072     NodeHandle node, n_tilde;
00074     Rate publish_rate;
00075 
00077     boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;
00078 
00080     Publisher sr_jointstate_pos_pub;
00082     Publisher sr_jointstate_target_pub;
00084     Publisher sr_pub;
00085 
00091     inline double toRad( double deg )
00092     {
00093         return deg * 3.14159265 / 180.0;
00094     }
00095 }; // end class ShadowhandPublisher
00096 
00097 } // end namespace
00098 
00099 #endif      /* !SHADOWHAND_PUBLISHER_H_ */


sr_hand
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:08:51