JointControlActualFinger.h

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/***************************************************************************/
#ifndef JOINTCONTROLACTUALFSMFINGER_H_
#define JOINTCONTROLACTUALFSMFINGER_H_

#include "robodyn_mechanisms/JointControlActualInterface.h"

class JointControlActualFinger : public JointControlActualInterface
{
public:
    JointControlActualFinger(const std::string&, IoFunctions);
    virtual ~JointControlActualFinger();

    void getStates(r2_msgs::JointControlData& actualStates);
    void updateControlModeState(void);
    void updateCommandModeState(void);
    void updateCalibrationModeState(void);
    void updateClearFaultModeState(void);
    void updateCoeffState(void);
    void getFaults(diagnostic_msgs::DiagnosticStatus& faultStatus);

protected:
    void setParameters();
    const std::string logCategory;

private:
    // Live coeffs names
    std::string ControlModeLiveCoeffName;
    std::string CommandModeLiveCoeffName;
    std::string CalibrationModeLiveCoeffName;
    std::string CoeffStateLiveCoeffName;
    std::string ClearFaultStateLiveCoeffName;
};

#endif