joint_relay_handler.h
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00001 /*
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00031 
00032 
00033 #ifndef JOINT_HANDLER_H
00034 #define JOINT_HANDLER_H
00035 
00036 #include <string>
00037 #include <vector>
00038 
00039 #include "ros/ros.h"
00040 #include "control_msgs/FollowJointTrajectoryFeedback.h"
00041 #include "sensor_msgs/JointState.h"
00042 #include "simple_message/message_handler.h"
00043 #include "simple_message/messages/joint_message.h"
00044 
00045 
00046 namespace industrial_robot_client
00047 {
00048 namespace joint_relay_handler
00049 {
00050 
00051 using industrial::joint_message::JointMessage;
00052 using industrial::simple_message::SimpleMessage;
00053 
00061 class JointRelayHandler : public industrial::message_handler::MessageHandler
00062 {
00063   // since this class defines a different init(), this helps find the base-class init()
00064   using industrial::message_handler::MessageHandler::init;
00065 
00066 public:
00067 
00071   JointRelayHandler() {};
00072 
00073 
00084  bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, std::vector<std::string> &joint_names);
00085 
00086 protected:
00087 
00088   std::vector<std::string> all_joint_names_;
00089 
00090   ros::Publisher pub_joint_control_state_;
00091   ros::Publisher pub_joint_sensor_state_;
00092   ros::NodeHandle node_;
00093 
00103   virtual bool create_messages(JointMessage& msg_in,
00104                                control_msgs::FollowJointTrajectoryFeedback* control_state,
00105                                sensor_msgs::JointState* sensor_state);
00106 
00116   virtual bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
00117   {
00118     *pos_out = pos_in;  // by default, no transform is applied
00119     return true;
00120   }
00121 
00132   virtual bool select(const std::vector<double>& all_joint_pos, const std::vector<std::string>& all_joint_names,
00133                       std::vector<double>* pub_joint_pos, std::vector<std::string>* pub_joint_names);
00134 
00142   bool internalCB(JointMessage& in);
00143 
00144 private:
00152  bool internalCB(SimpleMessage& in);
00153 };//class JointRelayHandler
00154 
00155 }//joint_relay_handler
00156 }//industrial_robot_cliet
00157 
00158 
00159 #endif /* JOINT_HANDLER_H */


industrial_robot_client
Author(s): Jeremy Zoss
autogenerated on Sat Jun 8 2019 20:43:29