18 #ifndef _FORCETORQUESENSOR_HH_
19 #define _FORCETORQUESENSOR_HH_
47 public:
virtual void Load(
const std::string &_worldName);
50 public:
virtual void Init();
53 public:
virtual std::string GetTopic()
const;
68 public:
virtual bool IsActive();
73 public:
template<
typename T>
75 {
return update.Connect(_subscriber);}
80 {update.Disconnect(_conn);}
83 protected:
virtual bool UpdateImpl(
bool _force);
86 protected:
virtual void Fini();
98 private: msgs::WrenchStamped wrenchMsg;
101 private: boost::mutex mutex;