Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2019 IIT-HHCM
       3             :  * Author: Luca Muratore
       4             :  * email:  luca.muratore@iit.it
       5             :  * 
       6             :  * Licensed under the Apache License, Version 2.0 (the "License");
       7             :  * you may not use this file except in compliance with the License.
       8             :  * You may obtain a copy of the License at
       9             :  * http://www.apache.org/licenses/LICENSE-2.0
      10             :  * 
      11             :  * Unless required by applicable law or agreed to in writing, software
      12             :  * distributed under the License is distributed on an "AS IS" BASIS,
      13             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      14             :  * See the License for the specific language governing permissions and
      15             :  * limitations under the License.
      16             : */
      17             : 
      18             : #ifndef __ROSEE_DUMMY_HAL__
      19             : #define __ROSEE_DUMMY_HAL__
      20             : 
      21             : #include <ros/ros.h>
      22             : 
      23             : #include <ros_end_effector/HAL/EEHal.h>
      24             : 
      25             : #include <string>
      26             : #include <memory>
      27             : 
      28             : namespace ROSEE {
      29             :     
      30             :     /**
      31             :      * @brief Class representing an end-effector
      32             :      * 
      33             :      */
      34             :     class DummyHal : public EEHal {
      35             : 
      36             :     public:
      37             :         
      38             :         typedef std::shared_ptr<DummyHal> Ptr;
      39             :         typedef std::shared_ptr<const DummyHal> ConstPtr;
      40             :         
      41             :         DummyHal( ros::NodeHandle* nh);
      42          82 :         virtual ~DummyHal() {};
      43             :         
      44             :         virtual bool sense() override;
      45             :         virtual bool move() override;
      46             :       
      47             :     private:
      48             :         /**
      49             :          * @brief this will publish to joint_state_publisher
      50             :          */
      51             :         ros::Publisher _hal_joint_state_pub;
      52             :         
      53             :         /**
      54             :          * @brief this will subscribe to joint_state_publisher
      55             :          */
      56             :         ros::Subscriber _hal_joint_state_sub;
      57             :         
      58             :         void hal_js_clbk(const sensor_msgs::JointState::ConstPtr& msg);
      59             :         
      60             :     };
      61             :     
      62          41 : HAL_CREATE_OBJECT(DummyHal)    
      63             : }
      64             : 
      65             : #endif // __ROSEE_DUMMY_HAL__