JointStatePublisher.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * JointStatePublisher.h
00020  *
00021  *  Created on: 06.12.2010
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef JOINTSTATEPUBLISHER_H_
00026 #define JOINTSTATEPUBLISHER_H_
00027 
00028 #include "ros/ros.h"
00029 #include "sensor_msgs/JointState.h"
00030 
00031 #include <vector>
00032 
00033 #include <katana/AbstractKatana.h>
00034 
00035 namespace katana
00036 {
00037 
00038 class JointStatePublisher
00039 {
00040 public:
00041   JointStatePublisher(boost::shared_ptr<AbstractKatana>);
00042   virtual ~JointStatePublisher();
00043   void update();
00044 
00045 private:
00046   boost::shared_ptr<AbstractKatana> katana;
00047   ros::Publisher pub;
00048 
00049 };
00050 
00051 }
00052 
00053 #endif /* JOINTSTATEPUBLISHER_H_ */
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katana
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:54:05