flipper_control.h
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00001 /*
00002  * Copyright (c) 2011, Dirk Thomas, TU Darmstadt
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions
00007  * are met:
00008  *
00009  *   * Redistributions of source code must retain the above copyright
00010  *     notice, this list of conditions and the following disclaimer.
00011  *   * Redistributions in binary form must reproduce the above
00012  *     copyright notice, this list of conditions and the following
00013  *     disclaimer in the documentation and/or other materials provided
00014  *     with the distribution.
00015  *   * Neither the name of the TU Darmstadt nor the names of its
00016  *     contributors may be used to endorse or promote products derived
00017  *     from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00020  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00021  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00022  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00023  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00024  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00025  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00027  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00028  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00029  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00030  * POSSIBILITY OF SUCH DAMAGE.
00031  */
00032 
00033 #ifndef rqt_flipper_control__FlipperControl_H
00034 #define rqt_flipper_control__FlipperControl_H
00035 
00036 #include <ros/ros.h>
00037 #include <rqt_gui_cpp/plugin.h>
00038 #include <std_msgs/Float64.h>
00039 
00040 #include <ui_flipper_control.h>
00041 
00042 #include <QWidget>
00043 
00044 namespace rqt_flipper_control {
00045 
00046 class FlipperControl
00047   : public rqt_gui_cpp::Plugin
00048 {
00049 
00050   Q_OBJECT
00051 
00052 public:
00053 
00054   FlipperControl();
00055 
00056   virtual void initPlugin(qt_gui_cpp::PluginContext& context);
00057 
00058   virtual void shutdownPlugin();
00059 
00060   virtual void saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const;
00061 
00062   virtual void restoreSettings(const qt_gui_cpp::Settings& plugin_settings, const qt_gui_cpp::Settings& instance_settings);
00063 
00064 protected:
00065   void frontFlipperCallback(const std_msgs::Float64::ConstPtr& msg);
00066   void rearFlipperCallback(const std_msgs::Float64::ConstPtr& msg);
00067 private:
00068   void setFlipperFrontGoal(const int goal);
00069   void setFlipperRearGoal(const int goal);
00070   void setFlipperFrontPose(const int pose);
00071   void setFlipperRearPose(const int pose);
00072   void updateModel();
00073 protected slots:
00074   virtual void sliderFrontChanged(int value);
00075   virtual void sliderRearChanged(int value);
00076 
00077 private:
00078   Ui::FlipperControlWidget ui_;
00079   QWidget* widget_;
00080   ros::Publisher jointStatePub;
00081   ros::Subscriber flipperFrontSubs;
00082   ros::Subscriber flipperRearSubs;
00083 };
00084 
00085 }
00086 
00087 #endif // rqt_flipper_control__FlipperControl_H


hector_rqt_plugins
Author(s): Dirk Thomas, Thorsten Graber, Gregor Gebhardt
autogenerated on Mon Aug 15 2016 03:58:04