qb_hand_hardware_interface.h

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#ifndef QB_HAND_HARDWARE_INTERFACE_H
#define QB_HAND_HARDWARE_INTERFACE_H

// ROS libraries
#include <pluginlib/class_list_macros.hpp>

// internal libraries
#include <qb_device_hardware_interface/qb_device_hardware_interface.h>
#include <qb_hand_hardware_interface/qb_hand_transmission_interface.h>

namespace qb_hand_hardware_interface {
class qbHandHW : public qb_device_hardware_interface::qbDeviceHW {
 public:
  qbHandHW();

  ~qbHandHW() override;

  std::vector<std::string> getJoints() override;

  bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override;

  void read(const ros::Time &time, const ros::Duration &period) override;

  void write(const ros::Time &time, const ros::Duration &period) override;
};
typedef std::shared_ptr<qbHandHW> qbHandHWPtr;
}  // namespace qb_hand_hardware_interface

#endif // QB_HAND_HARDWARE_INTERFACE_H