cartesian_joint_converter.h

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#ifndef XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_
#define XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_

#include <string>

#include <ros/publisher.h>
#include <ros/subscriber.h>

#include <xpp_msgs/RobotStateCartesian.h>

#include "inverse_kinematics.h"

namespace xpp {

class CartesianJointConverter {
public:
  CartesianJointConverter (const InverseKinematics::Ptr& ik,
                           const std::string& cart_topic,
                           const std::string& joint_topic);
  virtual ~CartesianJointConverter () = default;

private:
  void StateCallback(const xpp_msgs::RobotStateCartesian& msg);

  ros::Subscriber cart_state_sub_;
  ros::Publisher  joint_state_pub_;

  InverseKinematics::Ptr inverse_kinematics_;
};

} /* namespace xpp */

#endif /* XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_ */