Go to the documentation of this file.00001 #ifndef BASE_FRAME_DETECTOR_H
00002 #define BASE_FRAME_DETECTOR_H
00003
00004 #include <kdl/tree.hpp>
00005 #include <kdl/jntarray.hpp>
00006 #include <kdl/frames.hpp>
00007
00008 #include "r2_msgs/GripperPositionState.h"
00009 #include "r2_msgs/StringArray.h"
00010 #include "robodyn_utilities/BaseGripperConverter.h"
00011
00012 struct EndEffectorData
00013 {
00014 bool locked;
00015 bool loaded;
00016 bool verified;
00017 };
00018
00019 class BaseFrameDetector : public BaseGripperConverter
00020 {
00021 public:
00022 BaseFrameDetector();
00023 ~BaseFrameDetector();
00024
00025 int PopulateEEFStateInfo(const r2_msgs::GripperPositionState& eefState);
00026
00027 int PopulateBaseVerifInfo(const r2_msgs::GripperPositionState& baseVerif);
00028
00029 void PopulateBaseFrameMsg(const std::string& baseFrameCmd, r2_msgs::StringArray& baseList);
00030
00031 std::map<std::string, EndEffectorData> endEffectorMap;
00032
00033 private:
00034 std::vector<std::string> bfList;
00035
00036 };
00037
00038 #endif