00001 00028 #ifndef SHADOWHAND_SUBSCRIBER_H_ 00029 #define SHADOWHAND_SUBSCRIBER_H_ 00030 00031 #include <ros/ros.h> 00032 #include <vector> 00033 #include <string> 00034 #include <map> 00035 00036 #include <boost/smart_ptr.hpp> 00037 00038 //messages 00039 #include <sr_robot_msgs/joints_data.h> 00040 #include <sr_robot_msgs/joint.h> 00041 #include <sr_robot_msgs/contrlr.h> 00042 #include <sr_robot_msgs/sendupdate.h> 00043 #include <sr_robot_msgs/config.h> 00044 #include <sr_robot_msgs/reverseKinematics.h> 00045 00046 #include "sr_hand/hand/sr_articulated_robot.h" 00047 00048 using namespace ros; 00049 using namespace shadowrobot; 00050 00051 namespace shadowrobot 00052 { 00053 00058 class SRSubscriber 00059 { 00060 public: 00066 SRSubscriber( boost::shared_ptr<SRArticulatedRobot> sr_art_robot ); 00067 00069 ~SRSubscriber(); 00070 00071 private: 00073 NodeHandle node, n_tilde; 00074 00076 boost::shared_ptr<SRArticulatedRobot> sr_articulated_robot; 00077 00079 void init(); 00080 00082 // CALLBACKS // 00084 00091 void sendupdateCallback( const sr_robot_msgs::sendupdateConstPtr& msg ); 00093 Subscriber sendupdate_sub; 00094 00100 void contrlrCallback( const sr_robot_msgs::contrlrConstPtr& msg ); 00102 Subscriber contrlr_sub; 00103 00108 void configCallback( const sr_robot_msgs::configConstPtr& msg ); 00110 Subscriber config_sub; 00111 }; // end class ShadowhandSubscriber 00112 00113 } // end namespace 00114 00115 #endif /* !SHADOWHAND_SUBSCRIBER_H_ */