abb_utils.h

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#ifndef ABB_UTILS_H_
#define ABB_UTILS_H_

#include <vector>
#include "trajectory_msgs/JointTrajectory.h"

namespace abb
{
namespace utils
{

void linkage_transform(const std::vector<double>& joints_in, std::vector<double>* joints_out, double J23_factor=0);

void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor=0);

} //abb
} //utils

#endif /* ABB_UTILS_H_ */