00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00025 #ifndef _RONEX_MAPPING_H_ 00026 #define _RONEX_MAPPING_H_ 00027 00028 #include <ros_ethercat_model/robot_state.hpp> 00029 #include <ros_ethercat_model/transmission.hpp> 00030 00031 namespace ronex 00032 { 00033 class RonexMapping 00034 { 00035 public: 00036 RonexMapping() 00037 : first_iteration_(true), is_initialized_(false) 00038 {}; 00039 00046 virtual void propagateFromRonex(ros_ethercat_model::JointState *js) = 0; 00047 00054 virtual void propagateToRonex(ros_ethercat_model::JointState *js) = 0; 00055 00056 protected: 00057 ros::NodeHandle nh_; 00058 bool first_iteration_; 00059 00061 bool is_initialized_; 00063 ros::Timer init_timer_; 00068 virtual bool try_init_cb_(const ros::TimerEvent&, TiXmlElement* mapping_el, ros_ethercat_model::RobotState* robot, 00069 const char* ronex_name) = 0; 00070 }; 00071 } // namespace ronex 00072 00073 /* For the emacs weenies in the crowd. 00074 Local Variables: 00075 c-basic-offset: 2 00076 End: 00077 */ 00078 00079 #endif /* _RONEX_MAPPING_H_ */