ManipulatorHandler.h

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#ifndef MANIPULATOR_HANDLER_H
#define MANIPULATOR_HANDLER_H

#include <vrep_ros_plugin/GenericObjectHandler.h>
#include <vrep_ros_plugin/access.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Twist.h>

class ManipulatorHandler : public GenericObjectHandler
{
public:
        ManipulatorHandler();
        ~ManipulatorHandler();

        void synchronize();

        void handleSimulation();

        unsigned int getObjectType() const;

protected:

        void _initialize();

        std::vector<int> _handleOfJoints;

    std::vector<std::string> _jointNames;

        ros::Publisher _pub;

    ros::Subscriber _sub;

    ros::Subscriber _subVelMob;

        double _acquisitionFrequency;

        simFloat _lastPublishedStatus;

        simFloat _lastReceivedCmdTime;

    ros::Time _lastPrintedMsg;

    sensor_msgs::JointState _lastReceivedCmd;

    std::vector<CustomDataHeaders::ManipulatorCtrlMode> _jointCtrlMode;

        void jointCommandCallback(const sensor_msgs::JointStateConstPtr& msg);

        void VelMobCommandCallback(const geometry_msgs::TwistConstPtr& msg);

        unsigned int _numJoints;
        //float _tempjoint;

        double _axle_lenght;

        // Wheel radius
        double _mb_radius;

        CustomDataHeaders::ManipulatorCtrlMode _defaultModeCtrl;

};


#endif // ndef MANIPULATOR_HANDLER_H