GetTwistHandler.h

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#ifndef GETTWIST_HANDLER_H
#define GETTWIST_HANDLER_H

#include <vrep_ros_plugin/GenericObjectHandler.h>


class GetTwistHandler : public GenericObjectHandler
{
public:
        GetTwistHandler();
        ~GetTwistHandler();

        void synchronize();

        void handleSimulation();

        unsigned int getObjectType() const;

protected:

        void _initialize();

        ros::Publisher _pub;

        simFloat _lastPublishedObjTwistTime;

        double _ObjTwistFrequency;

        simInt _isStatic;

};


#endif // ndef GETTWIST_HANDLER_H