Accelerometer.h
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00001 /* Copyright (c) 2011, MATHE Antal Koppany <mathekoppany@yahoo.com>, All rights reserved. */
00002 /* Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>, All rights reserved. */
00003 
00004 #ifndef __ACCELEROMETER_H__
00005 #define __ACCELEROMETER_H__
00006 
00007 #include <ros/ros.h>
00008 #include <actionlib/client/simple_action_client.h>
00009 #include <pr2_gripper_sensor_msgs/PR2GripperEventDetectorAction.h>
00010 #include <pr2_msgs/AccelerometerState.h>
00011 
00012 typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperEventDetectorAction> DetectContactAC;
00013 
00014 class Accelerometer{
00015 private:
00016     int side_;
00017     DetectContactAC *acc_client_;
00018     static Accelerometer *instance_[];
00019 
00020     Accelerometer(int side=0);//side 0 means right hand
00021     ~Accelerometer();
00022 
00023     void accelCallback(const pr2_msgs::AccelerometerState::ConstPtr& msg);
00024 
00025 
00026 
00027 public:
00028     static Accelerometer *getInstance(int side=0);
00029     void detectContact(double magnitude=1.6);
00030 
00031 };
00032 
00033 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:37