joint_relay_handler.h

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#ifndef JOINT_HANDLER_H
#define JOINT_HANDLER_H
 
#include <string>
#include <vector>
 
#include "ros/ros.h"
#include "control_msgs/FollowJointTrajectoryFeedback.h"
#include "sensor_msgs/JointState.h"
#include "simple_message/message_handler.h"
#include "simple_message/messages/joint_message.h"
 
 
namespace industrial_robot_client
{
namespace joint_relay_handler
{
 
using industrial::joint_message::JointMessage;
using industrial::simple_message::SimpleMessage;
 
class JointRelayHandler : public industrial::message_handler::MessageHandler
{
  // since this class defines a different init(), this helps find the base-class init()
  using industrial::message_handler::MessageHandler::init;
 
public:
 
  JointRelayHandler() {};
 
 
 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, std::vector<std::string> &joint_names);
 
protected:
 
  std::vector<std::string> all_joint_names_;
 
  ros::Publisher pub_joint_control_state_;
  ros::Publisher pub_joint_sensor_state_;
  ros::NodeHandle node_;
 
  virtual bool create_messages(JointMessage& msg_in,
                               control_msgs::FollowJointTrajectoryFeedback* control_state,
                               sensor_msgs::JointState* sensor_state);
 
  virtual bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
  {
    *pos_out = pos_in;  // by default, no transform is applied
    return true;
  }
 
  virtual bool select(const std::vector<double>& all_joint_pos, const std::vector<std::string>& all_joint_names,
                      std::vector<double>* pub_joint_pos, std::vector<std::string>* pub_joint_names);
 
  bool internalCB(JointMessage& in);
 
private:
 bool internalCB(SimpleMessage& in);
};//class JointRelayHandler
 
}//joint_relay_handler
}//industrial_robot_cliet
 
 
#endif /* JOINT_HANDLER_H */