joint_relay_handler.h

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#ifndef JOINT_HANDLER_H
#define JOINT_HANDLER_H

#include <string>
#include <vector>

#include "ros/ros.h"
#include "control_msgs/FollowJointTrajectoryFeedback.h"
#include "sensor_msgs/JointState.h"
#include "simple_message/message_handler.h"
#include "simple_message/messages/joint_message.h"


namespace industrial_robot_client
{
namespace joint_relay_handler
{

using industrial::joint_message::JointMessage;
using industrial::simple_message::SimpleMessage;

class JointRelayHandler : public industrial::message_handler::MessageHandler
{
  // since this class defines a different init(), this helps find the base-class init()
  using industrial::message_handler::MessageHandler::init;

public:

  JointRelayHandler() {};


 bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, std::vector<std::string> &joint_names);

protected:

  std::vector<std::string> all_joint_names_;

  ros::Publisher pub_joint_control_state_;
  ros::Publisher pub_joint_sensor_state_;
  ros::NodeHandle node_;

  virtual bool create_messages(JointMessage& msg_in,
                               control_msgs::FollowJointTrajectoryFeedback* control_state,
                               sensor_msgs::JointState* sensor_state);

  virtual bool transform(const std::vector<double>& pos_in, std::vector<double>* pos_out)
  {
    *pos_out = pos_in;  // by default, no transform is applied
    return true;
  }

  virtual bool select(const std::vector<double>& all_joint_pos, const std::vector<std::string>& all_joint_names,
                      std::vector<double>* pub_joint_pos, std::vector<std::string>* pub_joint_names);

  bool internalCB(JointMessage& in);

private:
 bool internalCB(SimpleMessage& in);
};//class JointRelayHandler

}//joint_relay_handler
}//industrial_robot_cliet


#endif /* JOINT_HANDLER_H */