fanuc_utils.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2012, 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"
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00031 
00032 #include <fanuc_driver/fanuc_utils.h>
00033 #include <ros/ros.h>
00034 
00035 
00036 /*
00037  * Basically a copy of the 'abb_utils.cpp' file by J. Zoss in the 'abb_common'
00038  * package, but with changed namespace declarations.
00039  *
00040  * G.A. vd. Hoorn - TU Delft Robotics Institute
00041  */
00042 
00043 
00044 namespace fanuc
00045 {
00046 namespace utils
00047 {
00048 
00049 
00050 // TBD: This transform should also account for velocity/acceleration affects
00051 //      due to linkage, so that velocity calculation is accurate
00052 void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
00053     trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor)
00054 {
00055   *pt_out = pt_in;
00056   linkage_transform(pt_in.positions, &(pt_out->positions), J23_factor);
00057 }
00058 
00059 
00060 void linkage_transform(const std::vector<double>& points_in,
00061     std::vector<double>* points_out, double J23_factor)
00062 {
00063   ROS_ASSERT(points_in.size() > 3);
00064 
00065   *points_out = points_in;
00066   points_out->at(2) += J23_factor * points_out->at(1);
00067 }
00068 
00069 
00070 } //fanuc
00071 
00072 } //utils


fanuc_driver
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Sat Jun 8 2019 20:43:30