ros_conversion.h File Reference

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Namespaces
namespace	motoman
namespace	motoman::ros_conversion
namespace	motoman::ros_conversion::MotomanJointIndexes
	Enumeration of motoman joint indicies (as returned by the getPos library calls.
namespace	motoman::ros_conversion::MotomanRobotModels
	Enumeration of Motoman robot types (models). Initially these are being used to initialize joint rads->count conversion factors.
namespace	motoman::ros_conversion::RosJointIndexes
	Enumeration of ROS joint indicies. In reality these are not fixed. The ROS message structure maps joints by name and theoretically would allow for any order. Generally the order from base to tip is maintained (This is what the enumeration assumes).
Enumerations
enum	motoman::ros_conversion::MotomanJointIndexes::MotomanJointIndex {   motoman::ros_conversion::MotomanJointIndexes::S = 0, motoman::ros_conversion::MotomanJointIndexes::L = 1, motoman::ros_conversion::MotomanJointIndexes::U = 2, motoman::ros_conversion::MotomanJointIndexes::R = 3,   motoman::ros_conversion::MotomanJointIndexes::B = 4, motoman::ros_conversion::MotomanJointIndexes::T = 5, motoman::ros_conversion::MotomanJointIndexes::E = 6, motoman::ros_conversion::MotomanJointIndexes::COUNT = E,   motoman::ros_conversion::MotomanJointIndexes::S = 0, motoman::ros_conversion::MotomanJointIndexes::L = 1, motoman::ros_conversion::MotomanJointIndexes::U = 2, motoman::ros_conversion::MotomanJointIndexes::R = 3,   motoman::ros_conversion::MotomanJointIndexes::B = 4, motoman::ros_conversion::MotomanJointIndexes::T = 5, motoman::ros_conversion::MotomanJointIndexes::E = 6, motoman::ros_conversion::MotomanJointIndexes::COUNT = E }
enum	motoman::ros_conversion::MotomanRobotModels::MotomanRobotModel { motoman::ros_conversion::MotomanRobotModels::SIA_10D, motoman::ros_conversion::MotomanRobotModels::SIA_20D, motoman::ros_conversion::MotomanRobotModels::SIA_10D, motoman::ros_conversion::MotomanRobotModels::SIA_20D }
enum	motoman::ros_conversion::RosJointIndexes::RosJointIndex {   motoman::ros_conversion::RosJointIndexes::S = 0, motoman::ros_conversion::RosJointIndexes::L = 1, motoman::ros_conversion::RosJointIndexes::E = 2, motoman::ros_conversion::RosJointIndexes::U = 3,   motoman::ros_conversion::RosJointIndexes::R = 4, motoman::ros_conversion::RosJointIndexes::B = 5, motoman::ros_conversion::RosJointIndexes::T = 6, motoman::ros_conversion::RosJointIndexes::COUNT = T,   motoman::ros_conversion::RosJointIndexes::S = 0, motoman::ros_conversion::RosJointIndexes::L = 1, motoman::ros_conversion::RosJointIndexes::E = 2, motoman::ros_conversion::RosJointIndexes::U = 3,   motoman::ros_conversion::RosJointIndexes::R = 4, motoman::ros_conversion::RosJointIndexes::B = 5, motoman::ros_conversion::RosJointIndexes::T = 6, motoman::ros_conversion::RosJointIndexes::COUNT = T }
Functions
void	motoman::ros_conversion::initJointConversion (MotomanRobotModel model_number)
	Initializes joint rads->enocder count conversion factors This function must be manually called from within mpUsrRoot. Failure to call this function results in conversion factors of zero.
void	motoman::ros_conversion::toMotomanJointOrder (industrial::joint_data::JointData &joints)
void	motoman::ros_conversion::toMpJoint (industrial::joint_data::JointData &ros_joints, industrial::joint_data::JointData &mp_joints)
	Converts a ros joint (in ros order and radians) to a motoplus joint (in motoplus order and pulses) WARNING: This function should only be used at the lowest levels. The assumption is that any JointData type is assumed to be a ROS Joint.
float	motoman::ros_conversion::toPulses (float radians, MotomanJointIndex joint)
float	motoman::ros_conversion::toRadians (float pulses, MotomanJointIndex joint)
void	motoman::ros_conversion::toRosJoint (industrial::joint_data::JointData &mp_joints, industrial::joint_data::JointData &ros_joints)
	Converts a motoplus joint (in motoplus order and pulses) to a ros joint (in ros order and radians)
void	motoman::ros_conversion::toRosJointOrder (industrial::joint_data::JointData &joints)