Namespaces | |
| namespace | MotomanJointIndexes |
Enumeration of motoman joint indicies (as returned by the getPos library calls. | |
| namespace | RosJointIndexes |
Enumeration of ROS joint indicies. In reality these are not fixed. The ROS message structure maps joints by name and theoretically would allow for any order. Generally the order from base to tip is maintained (This is what the enumeration assumes). | |
Typedefs | |
| typedef MotomanJointIndexes::MotomanJointIndex | MotomanJointIndex |
| typedef RosJointIndexes::RosJointIndex | RosJointIndex |
Functions | |
| void | toMotomanJointOrder (industrial::joint_data::JointData &joints) |
| void | toMpJoint (industrial::joint_data::JointData &ros_joints, float *mp_joints) |
| Converts a ros joint (in ros order, JointData format) to a motoplus joint (in motoplus order) | |
| void | toRosJoint (float *mp_joints, industrial::joint_data::JointData &ros_joints) |
| Converts a motoplus joint (radians, in motoplus order) to a ros joint (radians, in ros order, JointData format) | |
| void | toRosJointOrder (industrial::joint_data::JointData &joints) |
Definition at line 66 of file include/dx100/ros_conversion.h.
Definition at line 88 of file include/dx100/ros_conversion.h.
Definition at line 107 of file ros_conversion.cpp.
| void motoman::ros_conversion::toMpJoint | ( | industrial::joint_data::JointData & | ros_joints, |
| float * | mp_joints | ||
| ) |
Converts a ros joint (in ros order, JointData format) to a motoplus joint (in motoplus order)
| ros | joint to convert |
| motoplus | joints (returned) |
Definition at line 71 of file ros_conversion.cpp.
| void motoman::ros_conversion::toRosJoint | ( | float * | mp_joints, |
| industrial::joint_data::JointData & | ros_joints | ||
| ) |
Converts a motoplus joint (radians, in motoplus order) to a ros joint (radians, in ros order, JointData format)
| motoplus | joints to convert |
| ros | joint (returned) |
Definition at line 52 of file ros_conversion.cpp.
Definition at line 93 of file ros_conversion.cpp.