joint_trajectory_handler.h
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00001 /*
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00031 
00032 #ifndef JOINT_TRAJECTORY_HANDLER_H
00033 #define JOINT_TRAJECTORY_HANDLER_H
00034 
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "ros/ros.h"
00037 #include <boost/thread/thread.hpp>
00038 #include <sensor_msgs/JointState.h>
00039 #include <trajectory_msgs/JointTrajectory.h>
00040 
00041 namespace adept
00042 {
00043 namespace joint_trajectory_handler
00044 {
00045 
00046 namespace JointTrajectoryStates
00047 {
00048 enum JointTrajectoryState
00049 {
00050   IDLE = 0, STREAMING =1 //,STARTING, //, STOPPING
00051 };
00052 }
00053 typedef JointTrajectoryStates::JointTrajectoryState JointTrajectoryState;
00054 
00059 //* JointTrajectoryHandler
00065 class JointTrajectoryHandler
00066 {
00067 
00068 public:
00069 
00070   JointTrajectoryHandler();
00071 
00078   JointTrajectoryHandler(ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection* robotConnecton);
00079 
00080   ~JointTrajectoryHandler();
00081 
00082   void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
00083   void trajectoryHandler();
00084 
00085 private:
00086 
00087   void trajectoryStop();
00088 
00089   industrial::smpl_msg_connection::SmplMsgConnection* robot_;
00090   ros::Subscriber sub_joint_tranectory_; //subscribe to "command"
00091   ros::NodeHandle node_;
00092 
00093   boost::thread* trajectoryHandler_;
00094   boost::mutex mutex_;int currentPoint;
00095   trajectory_msgs::JointTrajectory current_traj_;
00096   JointTrajectoryState state_;
00097 
00098   static const int NUM_OF_JOINTS_ = 6;
00099 };
00100 
00101 } //joint_trajectory_handler
00102 } //motoman
00103 
00104 #endif /* JOINT_TRAJECTORY_HANDLER_H */


adept_common
Author(s): root
autogenerated on Fri Jan 3 2014 11:05:39