joint_relay_handler.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *       * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *       * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *       * Neither the name of the Southwest Research Institute, nor the names
00016  *       of its contributors may be used to endorse or promote products derived
00017  *       from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 
00033 #ifndef JOINT_HANDLER_H
00034 #define JOINT_HANDLER_H
00035 
00036 #include "simple_message/message_handler.h"
00037 #include "ros/ros.h"
00038 //#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
00039 #include <control_msgs/FollowJointTrajectoryAction.h>
00040 #include <control_msgs/FollowJointTrajectoryFeedback.h>
00041 #include <sensor_msgs/JointState.h>
00042 
00043 
00044 namespace motoman
00045 {
00046 namespace joint_relay_handler
00047 {
00048 
00053 //* JointRelayHandler
00059 class JointRelayHandler : public industrial::message_handler::MessageHandler
00060 {
00061 
00062 public:
00063 
00069   JointRelayHandler(ros::NodeHandle &n);
00070 
00071 
00079 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection);
00080 
00089 bool init(int msg_type, industrial::smpl_msg_connection::SmplMsgConnection* connection)
00090 { return MessageHandler::init(msg_type, connection);};
00091 
00092 
00093 private:
00094 
00095   //pr2_controllers_msgs::JointTrajectoryControllerState joint_control_state_;
00096   control_msgs::FollowJointTrajectoryFeedback joint_control_state_;
00097   sensor_msgs::JointState joint_sensor_state_;
00098   ros::Publisher pub_joint_control_state_;
00099   ros::Publisher pub_joint_sensor_state_;
00100   ros::NodeHandle node_;
00101 
00102   static const int NUM_OF_JOINTS_ = 7;
00103 
00111  bool internalCB(industrial::simple_message::SimpleMessage & in);
00112 };
00113 
00114 }//ping_handler
00115 }//industrial
00116 
00117 
00118 #endif /* JOINT_HANDLER_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:33