Revision 6168b08c examples/meka/include/mekajointinterface.h

View differences:

examples/meka/include/mekajointinterface.h
7 7 
#include "ros/ros.h"
8 8 
#include "sensor_msgs/JointState.h"
9 9 
#include "trajectory_msgs/JointTrajectory.h"
10 
#include <m3meka_msgs/M3ControlStates.h>
10 11 

  		




  11
  12
  
    
class MekaJointInterface : public humotion::server::JointInterface{


  		




  12
  13
  
    
public:


  		




  13
  
  
    
    MekaJointInterface(std::string _input_scope, std::string _output_scope);


  		




  
  14
  
    
    MekaJointInterface(std::string _input_scope, std::string control_scope, std::string _output_scope);


  		




  14
  15
  
    
    ~MekaJointInterface();


  		




  15
  16
  
    

  		




  16
  17
  
    
    //void fetch_position(Device *dev, double timestamp);


  		




  ......




  28
  29
  
    
    void execute_motion();


  		




  29
  30
  
    

  		




  30
  31
  
    
private:


  		




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


  		




  31
  33
  
    
    void incoming_jointstates(const sensor_msgs::JointState & msg);


  		




  32
  34
  
    
    void store_dummy_data(int id, double timestamp);


  		




  33
  35
  
    
    void store_min_max(int id, float min, float max);


  		




  34
  36
  
    
    ros::Subscriber joint_state_subscriber;


  		




  
  37
  
    
    ros::Subscriber control_state_subscriber;


  		




  35
  38
  
    
    ros::Publisher target_publisher;


  		




  36
  39
  
    

  		




  37
  40
  
    
    double get_timestamp_s();


  		




  ......




  47
  50
  
    
    int previous_mouth_state;


  		




  48
  51
  
    

  		




  49
  52
  
    
    std::string input_scope;


  		




  
  53
  
    
    std::string control_scope;


  		




  50
  54
  
    
    std::string output_scope;


  		




  51
  55
  
    

  		




  52
  56
  
    
    float last_pos_eye_vergence;


  		




  ......




  54
  58
  
    
    float last_vel_eye_vergence;


  		




  55
  59
  
    
    float last_vel_eye_pan;


  		




  56
  60
  
    

  		




  
  61
  
    
    bool controller_enabled;


  		




  
  62
  
    

  		




  57
  63
  
    
    void store_joint(int id, float value);


  		




  58
  64
  
    
    void set_target_in_positionmode(int id, double value);


  		




  59
  65
  
    
    void set_target_in_velocitymode(int id, double value);


  		












Also available in:  Unified diff