jaco_types.h

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#ifndef _JACO_TYPES_H_
#define _JACO_TYPES_H_

#include <jaco_driver/KinovaTypes.h>
#include <geometry_msgs/Pose.h>
#include <jaco_driver/JointAngles.h>
#include <jaco_driver/FingerPosition.h>

namespace jaco
{

class JacoPose : public CartesianInfo
{
        public:
        JacoPose() {}
        JacoPose(const geometry_msgs::Pose &);
        JacoPose(const CartesianInfo &);

        geometry_msgs::Pose Pose();
        bool Compare(const JacoPose &, float) const;

        private:
        float Normalize(float);
};

class JacoAngles : public AngularInfo
{
        public:
        JacoAngles() {}
        JacoAngles(const jaco_driver::JointAngles &);
        JacoAngles(const AngularInfo &);

        jaco_driver::JointAngles Angles();
        bool Compare(const JacoAngles &, float) const;

        private:
        float Normalize(float);
};


class FingerAngles : public FingersPosition
{
        public:
        FingerAngles() {}
        FingerAngles(const jaco_driver::FingerPosition &);
        FingerAngles(const FingersPosition &);

        jaco_driver::FingerPosition Fingers();
        bool Compare(const FingerAngles &, float) const;
};


}

#endif // _JACO_TYPES_H_