joint_trajectory_downloader.h

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#ifndef JOINT_TRAJECTORY_DOWNLOADER_H
#define JOINT_TRAJECTORY_DOWNLOADER_H

#include "simple_message/smpl_msg_connection.h"
#include "ros/ros.h"
#include <trajectory_msgs/JointTrajectory.h>

namespace motoman
{
namespace joint_trajectory_downloader
{

//* JointTrajectoryDownloader
class JointTrajectoryDownloader
{

public:

        JointTrajectoryDownloader();

        JointTrajectoryDownloader(ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection* robotConnecton);

  ~JointTrajectoryDownloader();

  void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);

private:

  industrial::smpl_msg_connection::SmplMsgConnection* robot_;
  ros::Subscriber sub_joint_trajectory_; //subscribe to "command"
  ros::NodeHandle node_;

  void trajectoryStop();

};

} //joint_trajectory_downloader
} //motoman

#endif /* JOINT_TRAJECTORY_DOWNLOADER_H */