force_torque_sensor_handle.h

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/****************************************************************
 *
 * Copyright 2016 Intelligent Industrial Robotics (IIROB) Group,
 * Institute for Anthropomatics and Robotics (IAR) -
 * Intelligent Process Control and Robotics (IPR),
 * Karlsruhe Institute of Technology
 *
 * Maintainers: Denis Štogl, email: denis.stogl@kit.edu
 *                     Florian Heller
 *                     Vanessa Streuer
 *
 * Date of update: 2014-2016
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#include <hardware_interface/force_torque_sensor_interface.h>
#include <ati_force_torque/force_torque_sensor.h>

class ForceTorqueSensorHandle : public ForceTorqueSensor, public hardware_interface::ForceTorqueSensorHandle
{
public:

  ForceTorqueSensorHandle(ros::NodeHandle &nh, std::string sensor_name, std::string output_frame);

private:
  void updateFTData(const ros::TimerEvent &event);

  // Arrays for hardware_interface
  double interface_force_[3];
  double interface_torque_[3];
};