joint_trajectory_downloader.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  * Copyright (c) 2011, Southwest Research Institute
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef JOINT_TRAJECTORY_DOWNLOADER_H
00033 #define JOINT_TRAJECTORY_DOWNLOADER_H
00034 
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "ros/ros.h"
00037 #include <trajectory_msgs/JointTrajectory.h>
00038 
00039 namespace motoman
00040 {
00041 namespace joint_trajectory_downloader
00042 {
00043 
00049 //* JointTrajectoryDownloader
00055 class JointTrajectoryDownloader
00056 {
00057 
00058 public:
00059 
00060         JointTrajectoryDownloader();
00061 
00068         JointTrajectoryDownloader(ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection* robotConnecton);
00069 
00070   ~JointTrajectoryDownloader();
00071 
00072   void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
00073 
00074 private:
00075 
00076   industrial::smpl_msg_connection::SmplMsgConnection* robot_;
00077   ros::Subscriber sub_joint_trajectory_; //subscribe to "command"
00078   ros::NodeHandle node_;
00079 
00080   void trajectoryStop();
00081 
00082 };
00083 
00084 } //joint_trajectory_downloader
00085 } //motoman
00086 
00087 #endif /* JOINT_TRAJECTORY_DOWNLOADER_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36