etherCAT_compatibility_hand.hpp

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#ifndef         _ETHERCAT_COMPATIBILITY_HAND_HPP_
# define        _ETHERCAT_COMPATIBILITY_HAND_HPP_

#include "sr_hand/hand/sr_articulated_robot.h"
#include <sensor_msgs/JointState.h>

namespace shadowrobot
{
// THIS CLASS IS CONSIDERED DEPRECATED AND SHOULD NOT BE USED FOR ANY NEW PACKAGE.
// IT IS NOT MARKED AS DEPRECATED THOUGH, AS IT IS STILL USED IN SOME OLD NODES
  class EtherCATCompatibilityHand : public SRArticulatedRobot
  {
  public:
    EtherCATCompatibilityHand();
    virtual ~EtherCATCompatibilityHand();

    //virtual classes defined in Shadowhand
    virtual short sendupdate( std::string joint_name, double target );

    virtual JointData getJointData( std::string joint_name );
    virtual JointsMap getAllJointsData();

    virtual short setContrl( std::string contrlr_name, JointControllerData ctrlr_data );
    virtual JointControllerData getContrl( std::string ctrlr_name );

    virtual short setConfig( std::vector<std::string> myConfig );
    virtual void getConfig( std::string joint_name );

    virtual std::vector<DiagnosticData> getDiagnostics();
  protected:
    ros::NodeHandle node, n_tilde;

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

    void initializeMap();

    std::string findControllerTopicName( std::string joint_name);

    std::vector< ros::Publisher > etherCAT_publishers;

    ros::Subscriber joint_state_subscriber;
  }; //end class
}

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/


#endif      /* !_ETHERCAT_COMPATIBILITY_HAND_HPP_ */