hand_commander.hpp

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/*
* Copyright 2012 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#pragma once

#include <ros/ros.h>
#include <vector>
#include <string>
#include <map>
#include <utility>

#include <boost/smart_ptr.hpp>
#include <boost/ptr_container/ptr_map.hpp>
#include <sr_robot_msgs/joint.h>
#include <urdf/model.h>

using ros::Publisher;
using ros::NodeHandle;

namespace shadowhandRosLib
{
  enum HandType
  {
    UNKNOWN,
    CAN,
    ETHERCAT
  };
}  // namespace shadowhandRosLib

namespace shadowrobot
{
class HandCommander
{
public:
  explicit HandCommander(const std::string &ns = "");

  ~HandCommander();

  void sendCommands(std::vector<sr_robot_msgs::joint> joint_vector);

  std::string get_controller_state_topic(std::string joint_name);

  std::pair<double, double> get_min_max(std::string joint_name);

  std::vector<std::string> get_all_joints();

private:
  NodeHandle node_;

  std::map<std::string, urdf::JointSharedPtr> all_joints;

  Publisher sr_hand_target_pub;
  boost::ptr_map<std::string, Publisher> sr_hand_target_pub_map;

  std::map<std::string, std::string> sr_hand_sub_topics;

  shadowhandRosLib::HandType hand_type;
  bool ethercat_controllers_found;

  void initializeEthercatHand();

  static const double TIMEOUT_TO_DETECT_CONTROLLER_MANAGER;
};  // end class ShadowhandSubscriber

}  // namespace shadowrobot

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