sr_muscle_hand_lib.hpp

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#ifndef _SR_MUSCLE_HAND_LIB_HPP_
#define _SR_MUSCLE_HAND_LIB_HPP_

#include "sr_robot_lib/sr_muscle_robot_lib.hpp"
#include <std_srvs/Empty.h>

//to be able to load the configuration from the
//parameter server
#include <ros/ros.h>
#include <string>

namespace shadow_robot
{
  template <class StatusType, class CommandType>
  class SrMuscleHandLib : public SrMuscleRobotLib<StatusType, CommandType>
  {
  public:
    SrMuscleHandLib(pr2_hardware_interface::HardwareInterface *hw);
    ~SrMuscleHandLib();


    bool reset_muscle_driver_callback(std_srvs::Empty::Request& request,
                              std_srvs::Empty::Response& response,
                              int muscle_driver_index);

#ifdef DEBUG_PUBLISHER

    bool set_debug_data_to_publish(sr_robot_msgs::SetDebugData::Request& request,
                                   sr_robot_msgs::SetDebugData::Response& response);
#endif

  protected:
    virtual void initialize(std::vector<std::string> joint_names, std::vector<int> actuator_ids,
                            std::vector<shadow_joints::JointToSensor> joint_to_sensors,
                            std::vector<sr_actuator::SrGenericActuator*> actuators);

    void initialize(std::vector<std::string> joint_names, std::vector<shadow_joints::JointToMuscle> actuator_ids,
                            std::vector<shadow_joints::JointToSensor> joint_to_sensors,
                            std::vector<sr_actuator::SrGenericActuator*> actuators);

  private:

    std::vector<shadow_joints::JointToMuscle> read_joint_to_muscle_mapping();


    static const int nb_muscle_data;
    static const char* human_readable_muscle_data_types[];
    static const int32u muscle_data_types[];

    ros::ServiceServer debug_service;

  };

}

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif