motoman::ros_conversion Namespace Reference

Namespaces
namespace	MotomanJointIndexes
	Enumeration of motoman joint indicies (as returned by the getPos library calls.
namespace	MotomanRobotModels
	Enumeration of Motoman robot types (models). Initially these are being used to initialize joint rads->count conversion factors.
namespace	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).
Typedefs
typedef MotomanJointIndexes::MotomanJointIndex	MotomanJointIndex
typedef MotomanRobotModels::MotomanRobotModel	MotomanRobotModel
typedef RosJointIndexes::RosJointIndex	RosJointIndex
Functions
void	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	toMotomanJointOrder (industrial::joint_data::JointData &joints)
void	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	toPulses (float radians, MotomanJointIndex joint)
float	toRadians (float pulses, MotomanJointIndex joint)
void	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	toRosJointOrder (industrial::joint_data::JointData &joints)
Variables
float	B_PULSE_TO_RAD = 0
float	E_PULSE_TO_RAD = 0
float	L_PULSE_TO_RAD = 0
float	R_PULSE_TO_RAD = 0
float	S_PULSE_TO_RAD = 0
float	T_PULSE_TO_RAD = 0
float	U_PULSE_TO_RAD = 0

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Typedef Documentation

typedef MotomanJointIndexes::MotomanJointIndex motoman::ros_conversion::MotomanJointIndex

Definition at line 66 of file include/dx100/ros_conversion.h.

typedef MotomanRobotModels::MotomanRobotModel motoman::ros_conversion::MotomanRobotModel

Definition at line 103 of file include/dx100/ros_conversion.h.

typedef RosJointIndexes::RosJointIndex motoman::ros_conversion::RosJointIndex

Definition at line 88 of file include/dx100/ros_conversion.h.

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Function Documentation

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.

Parameters:

robot

model (

See also:

MotomanRobotModels)

Definition at line 63 of file ros_conversion.cpp.

void motoman::ros_conversion::toMotomanJointOrder

(

industrial::joint_data::JointData &

joints

)

Definition at line 220 of file ros_conversion.cpp.

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.

Parameters:

ros	joint (returned)
motoplus	joints to convert

Definition at line 191 of file ros_conversion.cpp.

float motoman::ros_conversion::toPulses	(	float	radians,
		MotomanJointIndex	joint
	)

Definition at line 99 of file ros_conversion.cpp.

float motoman::ros_conversion::toRadians	(	float	pulses,
		MotomanJointIndex	joint
	)

Definition at line 138 of file ros_conversion.cpp.

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)

Parameters:

motoplus	joints to convert
ros	joint (returned)

Definition at line 177 of file ros_conversion.cpp.

void motoman::ros_conversion::toRosJointOrder

(

industrial::joint_data::JointData &

joints

)

Definition at line 206 of file ros_conversion.cpp.

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Variable Documentation

float motoman::ros_conversion::B_PULSE_TO_RAD = 0

Definition at line 56 of file ros_conversion.cpp.

float motoman::ros_conversion::E_PULSE_TO_RAD = 0

Definition at line 58 of file ros_conversion.cpp.

float motoman::ros_conversion::L_PULSE_TO_RAD = 0

Definition at line 53 of file ros_conversion.cpp.

float motoman::ros_conversion::R_PULSE_TO_RAD = 0

Definition at line 55 of file ros_conversion.cpp.

float motoman::ros_conversion::S_PULSE_TO_RAD = 0

Definition at line 52 of file ros_conversion.cpp.

float motoman::ros_conversion::T_PULSE_TO_RAD = 0

Definition at line 57 of file ros_conversion.cpp.

float motoman::ros_conversion::U_PULSE_TO_RAD = 0

Definition at line 54 of file ros_conversion.cpp.