robotiq_3f_gripper_hw_interface.h

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

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#ifndef ROBOTIQ_3F_GRIPPER_HW_INTERFACE_H
#define ROBOTIQ_3F_GRIPPER_HW_INTERFACE_H

#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <robotiq_3f_gripper_control/robotiq_3f_gripper_api.h>
#include <robotiq_3f_gripper_control/robotiq_3f_gripper_diagnostics.h>
#include <robotiq_3f_gripper_control/robotiq_3f_gripper_ros.h>

namespace robotiq_3f_gripper_control
{

class Robotiq3FGripperHWInterface : public hardware_interface::RobotHW
{
public:
    Robotiq3FGripperHWInterface(ros::NodeHandle nh, boost::shared_ptr<Robotiq3FGripperAPI> driver);

    void configure(hardware_interface::JointStateInterface &joint_state_interface,
                   hardware_interface::PositionJointInterface &joint_position_interface);
    void read(ros::Duration d);
    void write(ros::Duration d);

protected:
    std::vector<std::string> joint_names_;

    std::vector<double> j_curr_pos_;
    std::vector<double> j_curr_vel_;
    std::vector<double> j_curr_eff_;
    std::vector<double> j_cmd_pos_;

    boost::shared_ptr<Robotiq3FGripperAPI> hw_driver_;
    boost::shared_ptr<Robotiq3FGripperDiagnostics> hw_diagnostics_;
    boost::shared_ptr<Robotiq3FGripperROS> hw_ros_;
};
}

#endif //ROBOTIQ_3F_GRIPPER_HW_INTERFACE_H