00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 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 the Willow Garage 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 00035 /* Author: Ioan Sucan, Dave Coleman */ 00036 00037 #ifndef MOVEIT_ROBOT_STATE_CONVERSIONS_ 00038 #define MOVEIT_ROBOT_STATE_CONVERSIONS_ 00039 00040 #include <moveit/robot_state/robot_state.h> 00041 #include <moveit/transforms/transforms.h> 00042 #include <moveit_msgs/RobotState.h> 00043 #include <moveit_msgs/RobotTrajectory.h> 00044 00045 namespace moveit 00046 { 00047 namespace core 00048 { 00049 00056 bool jointStateToRobotState(const sensor_msgs::JointState &joint_state, RobotState& state); 00057 00066 bool robotStateMsgToRobotState(const Transforms &tf, const moveit_msgs::RobotState &robot_state, RobotState& state, bool copy_attached_bodies = true); 00074 bool robotStateMsgToRobotState(const moveit_msgs::RobotState &robot_state, RobotState& state, bool copy_attached_bodies = true); 00075 00082 void robotStateToRobotStateMsg(const RobotState& state, moveit_msgs::RobotState &robot_state, bool copy_attached_bodies = true); 00083 00089 void robotStateToJointStateMsg(const RobotState& state, sensor_msgs::JointState &joint_state); 00090 00099 void robotStateToStream(const RobotState& state, std::ostream &out, bool include_header = true, const std::string& separator = ","); 00100 00110 void robotStateToStream(const RobotState& state, std::ostream &out, const std::vector<std::string> &joint_groups_ordering, 00111 bool include_header = true, const std::string& separator = ","); 00112 00113 } 00114 } 00115 00116 #endif