Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) More...

#include <joint_feedback_ex_relay_handler.h>

Inheritance diagram for industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler:

[legend]

List of all members.

Public Member Functions
virtual bool	init (SmplMsgConnection *connection, std::vector< std::string > &joint_names)
	Class initializer.
virtual bool	init (SmplMsgConnection *connection, std::map< int, RobotGroup > &robot_groups)
	Class initializer.
	JointFeedbackExRelayHandler (int groups_number=-1)
	Constructor.
Protected Member Functions
virtual bool	convert_message (JointFeedbackMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id)
	Convert joint message into intermediate message-type.
bool	create_messages (SimpleMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state)
	Convert joint message into publish message-types.
bool	create_messages (JointFeedbackMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state, int robot_id)
Protected Attributes
ros::Publisher	dynamic_pub_joint_control_state_
int	groups_number_
ros::Publisher	pub_joint_control_state_
ros::Publisher	pub_joint_sensor_state_
bool	version_0_
Private Member Functions
bool	convert_message (JointFeedbackExMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id)
	Convert joint feedback message into intermediate message-type.
Static Private Member Functions
static bool	JointDataToVector (const industrial::joint_data::JointData &joints, std::vector< double > &vec, int len)
Private Attributes
industrial::shared_types::shared_int	valid_fields_from_message_
	bit-mask of (optional) fields that have been initialized with valid data

Detailed Description

Message handler that relays joint positions (converts simple message types to ROS message types and publishes them)

THIS CLASS IS NOT THREAD-SAFE

Definition at line 68 of file joint_feedback_ex_relay_handler.h.

Constructor & Destructor Documentation

industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::JointFeedbackExRelayHandler ( int groups_number = -1 ) [inline]

Constructor.

Definition at line 74 of file joint_feedback_ex_relay_handler.h.

Member Function Documentation

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::convert_message	(	JointFeedbackMessage &	msg_in,
		DynamicJointsGroup *	joint_state,
		int	robot_id
	)		`[protected, virtual]`

Convert joint message into intermediate message-type.

Parameters:

[in]	msg_in	Message from robot connection
[out]	joint_state	JointTrajectoryPt message for intermediate processing

Definition at line 162 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::convert_message	(	JointFeedbackExMessage &	msg_in,
		DynamicJointsGroup *	joint_state,
		int	robot_id
	)		`[private]`

Convert joint feedback message into intermediate message-type.

Parameters:

[in]	msg_in	JointFeedbackMessage from robot connection
[out]	joint_state	JointTrajectoryPt message for intermediate processing

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::create_messages	(	SimpleMessage &	msg_in,
		control_msgs::FollowJointTrajectoryFeedback *	control_state,
		sensor_msgs::JointState *	sensor_state
	)		`[protected, virtual]`

Convert joint message into publish message-types.

Parameters:

[in]	msg_in	Message from robot connection
[out]	control_state	FollowJointTrajectoryFeedback message for ROS publishing
[out]	sensor_state	JointState message for ROS publishing

Returns:: true on success, false otherwise

Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.

Definition at line 83 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::create_messages	(	JointFeedbackMessage &	msg_in,
		control_msgs::FollowJointTrajectoryFeedback *	control_state,
		sensor_msgs::JointState *	sensor_state,
		int	robot_id
	)		`[protected]`

Definition at line 111 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::init	(	SmplMsgConnection *	connection,
		std::vector< std::string > &	joint_names
	)		`[virtual]`

Class initializer.

Parameters:

connection	simple message connection that will be used to send replies.
joint_names	list of joint-names for msg-publishing. Count and order should match data from robot connection. Use blank-name to exclude a joint from publishing.

Returns:: true on success, false otherwise (an invalid message type)

Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.

Definition at line 71 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::init	(	SmplMsgConnection *	connection,
		std::map< int, RobotGroup > &	robot_groups
	)		`[virtual]`

Class initializer.

Parameters:

connection	simple message connection that will be used to send replies.
joint_names	list of joint-names for msg-publishing. Count and order should match data from robot connection. Use blank-name to exclude a joint from publishing.

Returns:: true on success, false otherwise (an invalid message type)

Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.

Definition at line 51 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::JointDataToVector	(	const industrial::joint_data::JointData &	joints,
		std::vector< double > &	vec,
		int	len
	)		`[static, private]`