ros_conversion.h
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00001 /*
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00031 
00032 #ifndef ROS_CONVERSION_H
00033 #define ROS_CONVERSION_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/joint_data.h"
00037 #endif
00038 
00039 #ifdef MOTOPLUS
00040 #include "joint_data.h"
00041 #endif
00042 
00043 namespace motoman
00044 {
00045 namespace ros_conversion
00046 {
00047 
00052 namespace MotomanJointIndexes
00053 {
00054 enum MotomanJointIndex
00055 {
00056   S = 0, 
00057   L = 1, 
00058   U = 2,
00059   R = 3,
00060   B = 4,
00061   T = 5,
00062   E = 6,
00063   COUNT = E
00064 };
00065 }
00066 typedef MotomanJointIndexes::MotomanJointIndex MotomanJointIndex;
00067 
00074 namespace RosJointIndexes
00075 {
00076 enum RosJointIndex
00077 {
00078   S = 0, 
00079   L = 1, 
00080   E = 2,  
00081   U = 3,
00082   R = 4,
00083   B = 5,
00084   T = 6,
00085   COUNT = T
00086 };
00087 }
00088 typedef RosJointIndexes::RosJointIndex RosJointIndex;
00089 
00097 void toRosJoint(float* mp_joints, 
00098                                 industrial::joint_data::JointData & ros_joints);
00099 
00107 void toMpJoint(industrial::joint_data::JointData & ros_joints,
00108                                 float* mp_joints);
00109 
00110 // These functions change the JointData in place which has lead to some dangerous
00111 // bugs when they are called more than once.  Use the functions above
00112 // that swap joint order and perform unit conversion automatically
00113 //DEPRECATED
00114 void toRosJointOrder(industrial::joint_data::JointData & joints);
00115 //DEPRECATED
00116 void toMotomanJointOrder(industrial::joint_data::JointData & joints);
00117     
00118     
00119 } //ros_conversion
00120 } //motoman
00121 
00122 
00123 #endif //ROS_CONVERSION_H


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:34