sr_muscle_hand_lib.hpp

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#ifndef _SR_MUSCLE_HAND_LIB_HPP_
#define _SR_MUSCLE_HAND_LIB_HPP_

#include "sr_robot_lib/sr_muscle_robot_lib.hpp"
#include <std_srvs/Empty.h>

// to be able to load the configuration from the
// parameter server
#include <ros/ros.h>
#include <string>
#include <vector>


namespace shadow_robot
{
template<class StatusType, class CommandType>
class SrMuscleHandLib :
        public SrMuscleRobotLib<StatusType, CommandType>
{
public:
  SrMuscleHandLib(hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde,
                  std::string device_id, std::string joint_prefix);

  bool reset_muscle_driver_callback(std_srvs::Empty::Request &request,
                                    std_srvs::Empty::Response &response,
                                    int muscle_driver_index);

#ifdef DEBUG_PUBLISHER

  bool set_debug_data_to_publish(sr_robot_msgs::SetDebugData::Request& request,
                                 sr_robot_msgs::SetDebugData::Response& response);
#endif

protected:
  virtual void initialize(std::vector<std::string> joint_names, std::vector<int> actuator_ids,
                          std::vector<shadow_joints::JointToSensor> joint_to_sensors);

  void initialize(std::vector<std::string> joint_names, std::vector<shadow_joints::JointToMuscle> actuator_ids,
                  std::vector<shadow_joints::JointToSensor> joint_to_sensors);

private:
  std::vector<shadow_joints::JointToMuscle> read_joint_to_muscle_mapping();


  static const int nb_muscle_data;
  static const char *human_readable_muscle_data_types[];
  static const int32u muscle_data_types[];

#ifdef DEBUG_PUBLISHER

  ros::ServiceServer debug_service;
#endif
};
}  // namespace shadow_robot

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

#endif