publish_msgs.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (Modified BSD License)
00003  *
00004  *  Copyright (c) 2011, PAL Robotics, S.L.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of PAL Robotics, S.L. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00038 #include "motion_adaption/motion_adaption.h"
00039 
00040 
00041 void MotionAdaption::publishData()
00042 {
00043   // Torso
00044   pose_.header.stamp = ros::Time::now();
00045   pose_.header.frame_id = "/torso_adapted";
00046   pose_.pose.position.x = tf_torso_goal_.getOrigin().x();
00047   pose_.pose.position.y = tf_torso_goal_.getOrigin().y();
00048   pose_.pose.position.z = tf_torso_goal_.getOrigin().z();
00049   pose_.pose.orientation.x = tf_torso_goal_.getRotation().x();
00050   pose_.pose.orientation.y = tf_torso_goal_.getRotation().y();
00051   pose_.pose.orientation.z = tf_torso_goal_.getRotation().z();
00052   pose_.pose.orientation.w = tf_torso_goal_.getRotation().w();
00053   pub_torso_pose_.publish(pose_);
00054 
00055   // Head
00056   pose_.header.stamp = ros::Time::now();
00057   pose_.header.frame_id = "/head_adapted";
00058   pose_.pose.position.x = tf_head_goal_.getOrigin().x();
00059   pose_.pose.position.y = tf_head_goal_.getOrigin().y();
00060   pose_.pose.position.z = tf_head_goal_.getOrigin().z();
00061   pose_.pose.orientation.x = tf_head_goal_.getRotation().x();
00062   pose_.pose.orientation.y = tf_head_goal_.getRotation().y();
00063   pose_.pose.orientation.z = tf_head_goal_.getRotation().z();
00064   pose_.pose.orientation.w = tf_head_goal_.getRotation().w();
00065   pub_head_pose_.publish(pose_);
00066 
00067   // Right elbow
00068   pose_.header.stamp = ros::Time::now();
00069   pose_.header.frame_id = "/r_elbow_adapted";
00070   pose_.pose.position.x = tf_r_elbow_goal_.getOrigin().x();
00071   pose_.pose.position.y = tf_r_elbow_goal_.getOrigin().y();
00072   pose_.pose.position.z = tf_r_elbow_goal_.getOrigin().z();
00073   pose_.pose.orientation.x = tf_r_elbow_goal_.getRotation().x();
00074   pose_.pose.orientation.y = tf_r_elbow_goal_.getRotation().y();
00075   pose_.pose.orientation.z = tf_r_elbow_goal_.getRotation().z();
00076   pose_.pose.orientation.w = tf_r_elbow_goal_.getRotation().w();
00077   pub_r_elbow_pose_.publish(pose_);
00078 
00079   // Right hand
00080   pose_.header.stamp = ros::Time::now();
00081   pose_.header.frame_id = "/r_hand_adapted";
00082   pose_.pose.position.x = tf_r_hand_goal_.getOrigin().x();
00083   pose_.pose.position.y = tf_r_hand_goal_.getOrigin().y();
00084   pose_.pose.position.z = tf_r_hand_goal_.getOrigin().z();
00085   pose_.pose.orientation.x = tf_r_hand_goal_.getRotation().x();
00086   pose_.pose.orientation.y = tf_r_hand_goal_.getRotation().y();
00087   pose_.pose.orientation.z = tf_r_hand_goal_.getRotation().z();
00088   pose_.pose.orientation.w = tf_r_hand_goal_.getRotation().w();
00089   pub_r_hand_pose_.publish(pose_);
00090 
00091   // Left elbow
00092   pose_.header.stamp = ros::Time::now();
00093   pose_.header.frame_id = "/l_elbow_adapted";
00094   pose_.pose.position.x = tf_l_elbow_goal_.getOrigin().x();
00095   pose_.pose.position.y = tf_l_elbow_goal_.getOrigin().y();
00096   pose_.pose.position.z = tf_l_elbow_goal_.getOrigin().z();
00097   pose_.pose.orientation.x = tf_l_elbow_goal_.getRotation().x();
00098   pose_.pose.orientation.y = tf_l_elbow_goal_.getRotation().y();
00099   pose_.pose.orientation.z = tf_l_elbow_goal_.getRotation().z();
00100   pose_.pose.orientation.w = tf_l_elbow_goal_.getRotation().w();
00101   pub_l_elbow_pose_.publish(pose_);
00102 
00103   // Left hand
00104   pose_.header.stamp = ros::Time::now();
00105   pose_.header.frame_id = "/l_hand_adapted";
00106   pose_.pose.position.x = tf_l_hand_goal_.getOrigin().x();
00107   pose_.pose.position.y = tf_l_hand_goal_.getOrigin().y();
00108   pose_.pose.position.z = tf_l_hand_goal_.getOrigin().z();
00109   pose_.pose.orientation.x = tf_l_hand_goal_.getRotation().x();
00110   pose_.pose.orientation.y = tf_l_hand_goal_.getRotation().y();
00111   pose_.pose.orientation.z = tf_l_hand_goal_.getRotation().z();
00112   pose_.pose.orientation.w = tf_l_hand_goal_.getRotation().w();
00113   pub_l_hand_pose_.publish(pose_);
00114 }
00115 


motion_adaption
Author(s): Marcus Liebhardt
autogenerated on Mon Jan 6 2014 11:39:55