00001 #include <hardware_interface/force_torque_sensor_interface.h> 00002 #include <ati_force_torque/force_torque_sensor_sim.h> 00003 00004 class ForceTorqueSensorHandleSim : public ForceTorqueSensorSim, public hardware_interface::ForceTorqueSensorHandle 00005 { 00006 public: 00007 00008 ForceTorqueSensorHandleSim(ros::NodeHandle &nh, std::string sensor_name, std::string output_frame); 00009 00010 private: 00011 void updateFTData(const ros::TimerEvent &event); 00012 00013 // Arrays for hardware_interface 00014 double interface_force_[3]; 00015 double interface_torque_[3]; 00016 };