fanuc_utils.h
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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"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #ifndef FANUC_UTILS_H_
00033 #define FANUC_UTILS_H_
00034 
00035 
00036 /*
00037  * Basically a copy of the 'abb_utils.h' 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 #include <trajectory_msgs/JointTrajectory.h>
00045 #include <vector>
00046 
00047 
00048 namespace fanuc
00049 {
00050 namespace utils
00051 {
00052 
00053 
00062 void linkage_transform(const std::vector<double>& joints_in,
00063     std::vector<double>* joints_out, double J23_factor = 0);
00064 
00073 void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
00074     trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor = 0);
00075 
00076 
00077 } //fanuc
00078 } //utils
00079 
00080 
00081 #endif /* FANUC_UTILS_H_ */


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