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Viewing changes to sr_movements/include/sr_movements/movement_publisher.hpp

  • Committer: Ugo Cupcic
  • Date: 2011-09-27 16:23:25 UTC
  • mto: (1.39.1 sr-ros-interface)
  • mto: This revision was merged to the branch mainline in revision 3.
  • Revision ID: ugo@shadowrobot.com-20110927162325-1864bw3axyhk93g2
sr_movements: This package reads a specified bitmap and send targets by replaying the drawn movement.

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sr_movements/include/sr_movements/movement_publisher.hpp
 
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/**
 
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 * @file   movement_publisher.hpp
 
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 * @author Ugo Cupcic <ugo@shadowrobot.com>
 
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 * @date   Tue Sep 27 10:05:01 2011
 
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 *
 
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*
 
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* Copyright 2011 Shadow Robot Company Ltd.
 
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*
 
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* This program is free software: you can redistribute it and/or modify it
 
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* under the terms of the GNU General Public License as published by the Free
 
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* Software Foundation, either version 2 of the License, or (at your option)
 
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* any later version.
 
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*
 
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* This program is distributed in the hope that it will be useful, but WITHOUT
 
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 
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* FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 
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* more details.
 
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*
 
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* You should have received a copy of the GNU General Public License along
 
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* with this program.  If not, see <http://www.gnu.org/licenses/>.
 
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*
 
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 * @brief  Publishes a sequence of movements.
 
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 *
 
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 */
 
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#ifndef _MOVEMENT_PUBLISHER_HPP_
 
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#define _MOVEMENT_PUBLISHER_HPP_
 
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#include <ros/ros.h>
 
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#include <boost/thread.hpp>
 
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#include "sr_movements/partial_movement.hpp"
 
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namespace shadowrobot
 
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{
 
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  class MovementPublisher
 
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  {
 
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  public:
 
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    MovementPublisher( double min_value = 0.0, double max_value = 1.5,
 
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                       double rate=100.0 );
 
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    virtual ~MovementPublisher();
 
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    void start();
 
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    void stop();
 
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    void add_movement(PartialMovement mvt);
 
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  protected:
 
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    std::vector<PartialMovement> partial_movements;
 
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    ros::NodeHandle nh_tilde;
 
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    ros::Publisher pub;
 
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    ros::Rate publishing_rate;
 
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    double min, max;
 
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  };
 
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}
 
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/* For the emacs weenies in the crowd.
 
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Local Variables:
 
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   c-basic-offset: 2
 
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End:
 
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*/
 
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#endif