Revision 473a6a6c examples/meka/include/mekajointinterface.h

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examples/meka/include/mekajointinterface.h
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#include <boost/bimap.hpp>
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//#include "meka_data_receiver.h"
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//class MekaDataReceiver;
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#include "ros/ros.h"
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#include "sensor_msgs/JointState.h"
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class MekaJointInterface : public humotion::server::JointInterface{


  		




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public:


  		




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    //void fetch_position(Device *dev, double timestamp);


  		




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    //void fetch_speed(Device *dev, double timestamp);


  		




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    void fetch_position(int id, double value, double timestamp);


  		




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    void fetch_speed(int id, double value, double timestamp);


  		




  
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    //void fetch_position(int id, double value, double timestamp);


  		




  
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    //void fetch_speed(int id, double value, double timestamp);


  		




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    void run();


  		




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    enum JOINT_ID_ENUM{


  		




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    void execute_motion();


  		




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private:


  		




  
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    void incoming_jointstates(const sensor_msgs::JointState & msg);


  		




  
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    ros::Subscriber joint_state_subscriber;


  		




  
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    double get_timestamp_ms();


  		




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    double target_angle[ICUB_JOINT_ID_ENUM_SIZE];


  		




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    double target_angle_previous[ICUB_JOINT_ID_ENUM_SIZE];


  		












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