robotiq_3f_gripper_client_base.h

Go to the documentation of this file.

// Copyright (c) 2016, Toyota Research Institute. All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.

// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#ifndef ROBOTIQ_3F_GRIPPER_CLIENT_BASE_H
#define ROBOTIQ_3F_GRIPPER_CLIENT_BASE_H

#include <ros/ros.h>
#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>

namespace robotiq_3f_gripper_control
{

class Robotiq3FGripperClientBase
{
public:
    typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput GripperOutput;
    typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput GripperInput;

    virtual void init(ros::NodeHandle nh) {}

    virtual void writeOutputs(const GripperOutput& output) = 0;

    virtual GripperInput readInputs() const = 0;

    virtual GripperOutput readOutputs() const = 0;

    virtual ~Robotiq3FGripperClientBase() {}

protected:
    Robotiq3FGripperClientBase() {}

};

} //end namespace robotiq_3f_gripper_control

#endif // ROBOTIQ_3F_GRIPPER_CLIENT_BASE_H