joint_feedback_relay_handler.h
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00001 /*
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00031 
00032 
00033 #ifndef JOINT_FEEDBACK_RELAY_HANDLER_H
00034 #define JOINT_FEEDBACK_RELAY_HANDLER_H
00035 
00036 #include "fs100/industrial_robot_client/joint_relay_handler.h"
00037 #include "simple_message/messages/joint_feedback_message.h"
00038 
00039 namespace industrial_robot_client
00040 {
00041 namespace joint_feedback_relay_handler
00042 {
00043 
00044 using industrial::joint_feedback_message::JointFeedbackMessage;
00045 using industrial::simple_message::SimpleMessage;
00046 using industrial::smpl_msg_connection::SmplMsgConnection;
00047 using industrial_robot_client::joint_relay_handler::JointRelayHandler;
00048 using trajectory_msgs::JointTrajectoryPoint;
00049 
00057 class JointFeedbackRelayHandler : public industrial_robot_client::joint_relay_handler::JointRelayHandler
00058 {
00059 
00060 public:
00061 
00065   JointFeedbackRelayHandler(int robot_id=-1) : robot_id_(robot_id) {};
00066 
00067 
00078  virtual bool init(SmplMsgConnection* connection,
00079                     std::vector<std::string> &joint_names);
00080 
00081 protected:
00082  int robot_id_;
00083 
00090   virtual bool convert_message(SimpleMessage& msg_in, JointTrajectoryPoint* joint_state);
00091 
00092   // override JointRelayHandler::create_messages, to check robot_id w/o error msg
00093   bool create_messages(SimpleMessage& msg_in,
00094                        control_msgs::FollowJointTrajectoryFeedback* control_state,
00095                        sensor_msgs::JointState* sensor_state);
00096 private:
00097 
00098   static bool JointDataToVector(const industrial::joint_data::JointData &joints,
00099                                 std::vector<double> &vec, int len);
00100 
00107   bool convert_message(JointFeedbackMessage& msg_in, JointTrajectoryPoint* joint_state);
00108 
00109 };//class JointFeedbackRelayHandler
00110 
00111 }//joint_feedback_relay_handler
00112 }//industrial_robot_cliet
00113 
00114 
00115 #endif /* JOINT_FEEDBACK_RELAY_HANDLER_H */
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14