sr_subscriber.h

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#ifndef SR_HAND_SR_SUBSCRIBER_H
#define SR_HAND_SR_SUBSCRIBER_H

#include <ros/ros.h>
#include <vector>
#include <string>
#include <map>

#include <boost/smart_ptr.hpp>

// messages
#include <sr_robot_msgs/joints_data.h>
#include <sr_robot_msgs/joint.h>
#include <sr_robot_msgs/contrlr.h>
#include <sr_robot_msgs/sendupdate.h>
#include <sr_robot_msgs/config.h>
#include <sr_robot_msgs/reverseKinematics.h>
#include <std_msgs/Float64.h>

#include "sr_hand/hand/sr_articulated_robot.h"

using ros::NodeHandle;
using ros::Subscriber;
using shadowrobot::SRArticulatedRobot;

namespace shadowrobot
{

class SRSubscriber
{
public:
  explicit SRSubscriber(boost::shared_ptr<SRArticulatedRobot> sr_art_robot);

  ~SRSubscriber();

private:
  NodeHandle node, n_tilde;

  boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot;

  void init();

  //  CALLBACKS  //

  void sendupdateCallback(const sr_robot_msgs::sendupdateConstPtr &msg);

  Subscriber sendupdate_sub;

  void cmd_callback(const std_msgs::Float64ConstPtr &msg, std::string &joint_name);

  std::vector<Subscriber> controllers_sub;

  void contrlrCallback(const sr_robot_msgs::contrlrConstPtr &msg);

  Subscriber contrlr_sub;

  void configCallback(const sr_robot_msgs::configConstPtr &msg);

  Subscriber config_sub;
};  // end class ShadowhandSubscriber

}  // namespace shadowrobot

#endif  // SR_HAND_SR_SUBSCRIBER_H