Converts a Cartesian robot representation to joint angles. More...

#include <cartesian_joint_converter.h>

Public Member Functions
	CartesianJointConverter (const InverseKinematics::Ptr &ik, const std::string &cart_topic, const std::string &joint_topic)
	Creates a converter initializing the subscriber and publisher. More...

virtual	~CartesianJointConverter ()=default

Private Member Functions
void	StateCallback (const xpp_msgs::RobotStateCartesian &msg)

Private Attributes
ros::Subscriber	cart_state_sub_

InverseKinematics::Ptr	inverse_kinematics_

ros::Publisher	joint_state_pub_

Detailed Description

Converts a Cartesian robot representation to joint angles.

This class subscribes to a Cartesian robot state message and publishes the, through inverse kinematics converted, joint state message. This can then be used to visualize URDFs in RVIZ.

Definition at line 51 of file cartesian_joint_converter.h.

Constructor & Destructor Documentation

xpp::CartesianJointConverter::CartesianJointConverter	(	const InverseKinematics::Ptr &	ik,
		const std::string &	cart_topic,
		const std::string &	joint_topic
	)

Creates a converter initializing the subscriber and publisher.

Parameters

ik	The InverseKinematics to use for conversion.
cart_topic	The ROS topic containing the Cartesian robot state.
joint_topic	The ROS topic to publish for the URDF visualization.

Definition at line 39 of file cartesian_joint_converter.cc.

virtual xpp::CartesianJointConverter::~CartesianJointConverter ( )

virtualdefault