contacts_example.hh

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// Gazebo
#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>

// I/O streams
#include <iostream>

// Custom messages
#include "contact_request.pb.h"
#include "contact_response.pb.h"

#define PROMPT "> "

#define REQUEST_TOPIC   "~/grasp/contact"
#define RESPONSE_TOPIC  "~/grasp/contact/response"

typedef grasp::msgs::CollisionRequest CollisionRequest;
typedef grasp::msgs::SurfaceRequest SurfaceRequest;
typedef grasp::msgs::ContactRequest ContactRequest;
typedef const boost::shared_ptr<const grasp::msgs::ContactResponse>
    ContactResponsePtr;

// Functions

void getContactBetween(gazebo::transport::PublisherPtr pub,
    const std::string & collision1,
    const std::string & collision2);

void changeSurface(gazebo::transport::PublisherPtr pub,
    const std::string & model,
    const std::string & link,
    const std::string & collision);