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shadow_robot/cyberglove/include/cyberglove/cyberglove_service.h

 

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/**

 

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 * @file   cyberglove_service.h

 

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 * @author Ugo Cupcic <ugo@shadowrobot.com>, Contact <contact@shadowrobot.com>

 

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 * @date   Thu Apr 22 10:25:55 2010

 

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 *

 

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 * @brief   A service which can stop / start the Cyberglove publisher.

 

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 *

 

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 *

 

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 */

 

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#ifndef         CYBERGLOVE_SERVICE_H_

 

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# define        CYBERGLOVE_SERVICE_H_

 

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#include <ros/ros.h>

 

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#include <vector>

 

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#include "cyberglove_publisher.h"

 

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#include "cyberglove/Start.h"

 

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#include "cyberglove/Calibration.h"

 

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#include <boost/smart_ptr.hpp>

 

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//messages

 

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using namespace ros;

 

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namespace cyberglove_service{

 

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  class CybergloveService

 

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  {

 

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  public:

 

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    /// Constructor

 

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    CybergloveService(boost::shared_ptr<cyberglove_publisher::CyberglovePublisher> publish);

 

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    ~CybergloveService(){};

 

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    //CybergloveService();

 

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    bool start(cyberglove::Start::Request &req, cyberglove::Start::Response &res);

 

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    bool calibration(cyberglove::Calibration::Request &req, cyberglove::Calibration::Response &res);

 

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  private:

 

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    NodeHandle node;

 

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    boost::shared_ptr<cyberglove_publisher::CyberglovePublisher> pub;

 

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    ros::ServiceServer service_start;

 

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    ros::ServiceServer service_calibration;

 

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  };

 

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}

 

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#endif

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