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::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	motoman::ros_conversion::MotomanJointIndex
typedef RosJointIndexes::RosJointIndex	motoman::ros_conversion::RosJointIndex
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::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::toMotomanJointOrder (industrial::joint_data::JointData &joints)
void	motoman::ros_conversion::toMpJoint (industrial::joint_data::JointData &ros_joints, float *mp_joints)
	Converts a ros joint (in ros order, JointData format) to a motoplus joint (in motoplus order)
void	motoman::ros_conversion::toRosJoint (float *mp_joints, industrial::joint_data::JointData &ros_joints)
	Converts a motoplus joint (radians, in motoplus order) to a ros joint (radians, in ros order, JointData format)
void	motoman::ros_conversion::toRosJointOrder (industrial::joint_data::JointData &joints)