00001 00029 #ifndef _SR_REAL_TACTILE_SENSOR_HPP_ 00030 #define _SR_REAL_TACTILE_SENSOR_HPP_ 00031 00032 #include <ros/ros.h> 00033 00034 //our robot code 00035 #include <robot/robot.h> 00036 #include <robot/hand.h> 00037 #include <robot/hand_protocol.h> 00038 00039 #include "sr_tactile_sensors/sr_generic_tactile_sensor.hpp" 00040 00041 namespace shadowrobot 00042 { 00043 class SrRealTactileSensor : public SrGenericTactileSensor 00044 { 00045 public: 00046 SrRealTactileSensor(std::string name, std::string touch_name); 00047 ~SrRealTactileSensor(); 00048 00054 virtual double get_touch_data(); 00055 00056 private: 00057 struct sensor sensor_touch; 00058 int res_touch; 00059 }; 00060 00061 class SrRealTactileSensorManager : public SrTactileSensorManager 00062 { 00063 public: 00064 SrRealTactileSensorManager(); 00065 ~SrRealTactileSensorManager(); 00066 }; 00067 } 00068 00069 /* For the emacs weenies in the crowd. 00070 Local Variables: 00071 c-basic-offset: 2 00072 End: 00073 */ 00074 00075 #endif