00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 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 are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 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