KatanaNode.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  * KatanaNode.h
00020  *
00021  *  Created on: 11.12.2010
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef KATANANODE_H_
00026 #define KATANANODE_H_
00027 
00028 #include <ros/ros.h>
00029 
00030 #include <katana/JointStatePublisher.h>
00031 #include <katana/joint_trajectory_action_controller.h>
00032 #include <katana/joint_movement_action_controller.h>
00033 #include <katana/katana_gripper_grasp_controller.h>
00034 
00035 #include <katana/AbstractKatana.h>
00036 #include <katana/Katana.h>
00037 #include <katana/Katana300.h>
00038 #include <katana/SimulatedKatana.h>
00039 
00040 namespace katana
00041 {
00042 
00048 class KatanaNode
00049 {
00050 public:
00051   KatanaNode();
00052   virtual ~KatanaNode();
00053   int loop();
00054 
00055 private:
00056   boost::shared_ptr<katana::AbstractKatana> katana;
00057   ros::NodeHandle nh;  // just to make sure that there is at least one node handle which doesn't go out of scope
00058 
00059 };
00060 
00061 }
00062 
00063 #endif /* KATANANODE_H_ */
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katana
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:54:05