Revision 5e4bc615 examples/meka/include/mekajointinterface.h

View differences:

examples/meka/include/mekajointinterface.h
2 2 
#include <humotion/server/joint_interface.h>
3 3 
#include <humotion/server/server.h>
4 4 
#include <boost/bimap.hpp>
5 
//#include "meka_data_receiver.h"
6 
//class MekaDataReceiver;
5 

  		




  7
  6
  
    
#include "ros/ros.h"


  		




  8
  7
  
    
#include "sensor_msgs/JointState.h"


  		




  9
  8
  
    
#include "trajectory_msgs/JointTrajectory.h"


  		




  
  9
  
    

  		




  10
  10
  
    
#include <m3meka_msgs/M3ControlStates.h>


  		




  11
  11
  
    

  		




  12
  12
  
    
class MekaJointInterface : public humotion::server::JointInterface{


  		




  ......




  31
  31
  
    
private:


  		




  32
  32
  
    
    void incoming_controlstate(const m3meka_msgs::M3ControlStates &control_state);


  		




  33
  33
  
    
    void incoming_jointstates(const sensor_msgs::JointState & msg);


  		




  34
  
  
    
    void store_dummy_data(int id, double timestamp);


  		




  
  34
  
    
    void store_dummy_data(int id, humotion::Timestamp timestamp);


  		




  35
  35
  
    
    void store_min_max(int id, float min, float max);


  		




  36
  36
  
    
    ros::Subscriber joint_state_subscriber;


  		




  37
  37
  
    
    ros::Subscriber control_state_subscriber;


  		




  38
  38
  
    
    ros::Publisher target_publisher;


  		




  39
  39
  
    

  		




  40
  
  
    
    double get_timestamp_s();


  		




  41
  
  
    

  		




  42
  40
  
    
    void set_eyelid_angle(double angle);


  		




  43
  41
  
    
    void set_eyebrow_angle(int id);


  		




  44
  42
  
    
    void set_mouth();


  		












Also available in:  Unified diff