SetTwistHandler.h
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00001 #ifndef SETTWIST_HANDLER_H
00002 #define SETTWIST_HANDLER_H
00003 
00004 #include <vrep_ros_plugin/GenericObjectHandler.h>
00005 #include <geometry_msgs/TwistStamped.h>
00006 
00015 class SetTwistHandler : public GenericObjectHandler
00016 {
00017 public:
00018         SetTwistHandler();
00019         ~SetTwistHandler();
00020 
00024         void synchronize();
00025 
00029         void handleSimulation();
00030 
00034         unsigned int getObjectType() const;
00035 
00037         const static unsigned int SET_OBJ_TWIST_DATA_MAIN=550;
00038         const static unsigned int SET_OBJ_TWIST_DATA_LIN_GAIN=SET_OBJ_TWIST_DATA_MAIN+1;
00039         const static unsigned int SET_OBJ_TWIST_DATA_ANG_GAIN=SET_OBJ_TWIST_DATA_LIN_GAIN+1;
00040 
00041 protected:
00042 
00046         void _initialize();
00047 
00051         ros::Subscriber _sub;
00052 
00056         geometry_msgs::TwistStamped _twistCommands;
00057 
00061         void TwistCommandCallback(const geometry_msgs::TwistStamped& msg);
00062 
00066         simInt _isStatic;
00067 
00068         simFloat _linGain;
00069         simFloat _angGain;
00070 };
00071 
00072 
00073 #endif // ndef SETTWIST_HANDLER_H


rigid_body_handler
Author(s): Riccardo Spica , Giovanni Claudio
autogenerated on Mon Apr 3 2017 04:03:58