sr_subscriber.h

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#ifndef SHADOWHAND_SUBSCRIBER_H_
#define SHADOWHAND_SUBSCRIBER_H_

#include <ros/ros.h>
#include <vector>
#include <string>
#include <map>

#include <boost/smart_ptr.hpp>

//messages
#include <sr_robot_msgs/joints_data.h>
#include <sr_robot_msgs/joint.h>
#include <sr_robot_msgs/contrlr.h>
#include <sr_robot_msgs/sendupdate.h>
#include <sr_robot_msgs/config.h>
#include <sr_robot_msgs/reverseKinematics.h>
#include <std_msgs/Float64.h>

#include "sr_hand/hand/sr_articulated_robot.h"

using namespace ros;
using namespace shadowrobot;

namespace shadowrobot
{

class SRSubscriber
{
public:
    SRSubscriber( boost::shared_ptr<SRArticulatedRobot> sr_art_robot );

    ~SRSubscriber();

private:
    NodeHandle node, n_tilde;

    boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;

    void init();

    //  CALLBACKS  //

    void sendupdateCallback( const sr_robot_msgs::sendupdateConstPtr& msg );
    Subscriber sendupdate_sub;

    void cmd_callback(const std_msgs::Float64ConstPtr& msg, std::string& joint_name);
    std::vector<Subscriber> controllers_sub;

    void contrlrCallback( const sr_robot_msgs::contrlrConstPtr& msg );
    Subscriber contrlr_sub;

    void configCallback( const sr_robot_msgs::configConstPtr& msg );
    Subscriber config_sub;
}; // end class ShadowhandSubscriber

} // end namespace

#endif      /* !SHADOWHAND_SUBSCRIBER_H_ */