00001 /* 00002 * Software License Agreement (Apache License) 00003 * 00004 * Copyright (c) 2016, Southwest Research Institute 00005 * 00006 * Licensed under the Apache License, Version 2.0 (the "License"); 00007 * you may not use this file except in compliance with the License. 00008 * You may obtain a copy of the License at 00009 * 00010 * http://www.apache.org/licenses/LICENSE-2.0 00011 * 00012 * Unless required by applicable law or agreed to in writing, software 00013 * distributed under the License is distributed on an "AS IS" BASIS, 00014 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00015 * See the License for the specific language governing permissions and 00016 * limitations under the License. 00017 */ 00018 /* 00019 * ros_conversions.h 00020 * 00021 * Created on: Feb 28, 2016 00022 * Author: Jonathan Meyer 00023 */ 00024 00025 #ifndef DESCARTES_ROS_CONVERSIONS_H 00026 #define DESCARTES_ROS_CONVERSIONS_H 00027 00028 #include <trajectory_msgs/JointTrajectory.h> 00029 #include <descartes_core/trajectory_pt.h> 00030 00031 namespace descartes_utilities 00032 { 00043 bool toRosJointPoints(const descartes_core::RobotModel& model, 00044 const std::vector<descartes_core::TrajectoryPtPtr>& joint_traj, double default_joint_vel, 00045 std::vector<trajectory_msgs::JointTrajectoryPoint>& out); 00046 } 00047 00048 #endif