00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, 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 #ifndef FANUC_UTILS_H_ 00033 #define FANUC_UTILS_H_ 00034 00035 00036 /* 00037 * Basically a copy of the 'abb_utils.h' file by J. Zoss in the 'abb_common' 00038 * package, but with changed namespace declarations. 00039 * 00040 * G.A. vd. Hoorn - TU Delft Robotics Institute 00041 */ 00042 00043 00044 #include <trajectory_msgs/JointTrajectory.h> 00045 #include <vector> 00046 00047 00048 namespace fanuc 00049 { 00050 namespace utils 00051 { 00052 00053 00062 void linkage_transform(const std::vector<double>& joints_in, 00063 std::vector<double>* joints_out, double J23_factor = 0); 00064 00073 void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, 00074 trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor = 0); 00075 00076 00077 } //fanuc 00078 } //utils 00079 00080 00081 #endif /* FANUC_UTILS_H_ */