ros_conversion.h

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#ifndef ROS_CONVERSION_H
#define ROS_CONVERSION_H

#ifdef ROS
#include "simple_message/joint_data.h"
#endif

#ifdef MOTOPLUS
#include "joint_data.h"
#endif

namespace motoman
{
namespace ros_conversion
{

namespace MotomanJointIndexes
{
enum MotomanJointIndex
{
  S = 0, 
  L = 1, 
  U = 2,
  R = 3,
  B = 4,
  T = 5,
  E = 6,
  COUNT = E
};
}
typedef MotomanJointIndexes::MotomanJointIndex MotomanJointIndex;

namespace RosJointIndexes
{
enum RosJointIndex
{
  S = 0, 
  L = 1, 
  E = 2,  
  U = 3,
  R = 4,
  B = 5,
  T = 6,
  COUNT = T
};
}
typedef RosJointIndexes::RosJointIndex RosJointIndex;

void toRosJoint(float* mp_joints, 
                                industrial::joint_data::JointData & ros_joints);

void toMpJoint(industrial::joint_data::JointData & ros_joints,
                                float* mp_joints);

// These functions change the JointData in place which has lead to some dangerous
// bugs when they are called more than once.  Use the functions above
// that swap joint order and perform unit conversion automatically
//DEPRECATED
void toRosJointOrder(industrial::joint_data::JointData & joints);
//DEPRECATED
void toMotomanJointOrder(industrial::joint_data::JointData & joints);
    
    
} //ros_conversion
} //motoman


#endif //ROS_CONVERSION_H