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 <string> 00037 #include <vector> 00038 00039 #include "ros/ros.h" 00040 #include "control_msgs/FollowJointTrajectoryFeedback.h" 00041 #include "sensor_msgs/JointState.h" 00042 #include "simple_message/message_handler.h" 00043 #include "simple_message/messages/joint_message.h" 00044 00045 00046 namespace industrial_robot_client 00047 { 00048 namespace joint_relay_handler 00049 { 00050 00051 using industrial::joint_message::JointMessage; 00052 using industrial::simple_message::SimpleMessage; 00053 00061 class JointRelayHandler : public industrial::message_handler::MessageHandler 00062 { 00063 // since this class defines a different init(), this helps find the base-class init() 00064 using industrial::message_handler::MessageHandler::init; 00065 00066 public: 00067 00071 JointRelayHandler() {}; 00072 00073 00084 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, std::vector<std::string> &joint_names); 00085 00086 protected: 00087 00088 std::vector<std::string> all_joint_names_; 00089 00090 ros::Publisher pub_joint_control_state_; 00091 ros::Publisher pub_joint_sensor_state_; 00092 ros::NodeHandle node_; 00093 00103 virtual bool create_messages(JointMessage& msg_in, 00104 control_msgs::FollowJointTrajectoryFeedback* control_state, 00105 sensor_msgs::JointState* sensor_state); 00106 00116 virtual bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out) 00117 { 00118 *pos_out = pos_in; // by default, no transform is applied 00119 return true; 00120 } 00121 00132 virtual bool select(const std::vector<double>& all_joint_pos, const std::vector<std::string>& all_joint_names, 00133 std::vector<double>* pub_joint_pos, std::vector<std::string>* pub_joint_names); 00134 00142 bool internalCB(JointMessage& in); 00143 00144 private: 00152 bool internalCB(SimpleMessage& in); 00153 };//class JointRelayHandler 00154 00155 }//joint_relay_handler 00156 }//industrial_robot_cliet 00157 00158 00159 #endif /* JOINT_HANDLER_H */