robot_config.hpp
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00001 /*
00002  * Copyright 2015 Aldebaran
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 
00019 #ifndef ROBOT_CONFIG_SERVICE_HPP
00020 #define ROBOT_CONFIG_SERVICE_HPP
00021 
00022 #include <iostream>
00023 
00024 #include <ros/node_handle.h>
00025 #include <ros/service_server.h>
00026 
00027 #include <naoqi_bridge_msgs/GetRobotInfo.h>
00028 #include <qi/session.hpp>
00029 
00030 namespace naoqi
00031 {
00032 namespace service
00033 {
00034 
00035 class RobotConfigService
00036 {
00037 public:
00038   RobotConfigService( const std::string& name, const std::string& topic, const qi::SessionPtr& session );
00039 
00040   ~RobotConfigService(){};
00041 
00042   std::string name() const
00043   {
00044     return name_;
00045   }
00046 
00047   std::string topic() const
00048   {
00049     return topic_;
00050   }
00051 
00052   void reset( ros::NodeHandle& nh );
00053 
00054   bool callback( naoqi_bridge_msgs::GetRobotInfoRequest& req, naoqi_bridge_msgs::GetRobotInfoResponse& resp );
00055 
00056 
00057 private:
00058   const std::string name_;
00059   const std::string topic_;
00060 
00061   const qi::SessionPtr& session_;
00062   ros::ServiceServer service_;
00063 };
00064 
00065 } // service
00066 } // naoqi
00067 #endif


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14