Provides helper functions for converting to and from ros messages. More...
#include <trajectory_msgs/JointTrajectory.h>
#include "r2_msgs/PoseTrajectory.h"
#include <sensor_msgs/JointState.h>
#include "r2_msgs/PoseState.h"
#include "r2_msgs/JointControlDataArray.h"
#include "r2_msgs/WrenchState.h"
#include "r2_msgs/JointCommand.h"
#include "r2_msgs/ToolFrame.h"
#include <kdl/jntarrayvel.hpp>
#include <kdl/frameacc.hpp>
#include <kdl/segment.hpp>
#include <kdl/jntarrayacc.hpp>
Go to the source code of this file.
Classes | |
struct | RosMsgConverter::JointAcc |
struct | RosMsgConverter::JointCommand |
struct | RosMsgConverter::JointVel |
struct | RosMsgConverter::ToolFrame |
Namespaces | |
namespace | RosMsgConverter |
Functions | |
void | RosMsgConverter::JointCommandToJointCommandMap (const r2_msgs::JointCommand &jointCommand, std::map< std::string, JointCommand > &jointCommandMap) |
void | RosMsgConverter::JointControlDataToCoeffStateMap (const r2_msgs::JointControlDataArray &jointData, std::map< std::string, r2_msgs::JointControlCoeffState > &jointMap) |
void | RosMsgConverter::JointStateToJntArray (const sensor_msgs::JointState &jointState, const std::vector< std::string > jointNames, KDL::JntArray &jointArray) |
JointStateToJntArray. | |
void | RosMsgConverter::JointStateToJntArrayAcc (const sensor_msgs::JointState &jointState, const std::vector< std::string > jointNames, KDL::JntArrayAcc &jointArray) |
Acc term contains effort ///. | |
void | RosMsgConverter::JointStateToJntArrayVel (const sensor_msgs::JointState &jointState, const std::vector< std::string > jointNames, KDL::JntArrayVel &jointArray) |
JointStateToJntArrayVel. | |
void | RosMsgConverter::JointStateToJntMap (const sensor_msgs::JointState &jointState, std::map< std::string, double > &jointMap) |
JointStateToJntMap creates a map of jointName and position. | |
void | RosMsgConverter::JointStateToJointAccMap (const sensor_msgs::JointState &jointState, std::map< std::string, JointAcc > &jointMap) |
JointStateEffortToJntMap ToJntMap creates a map of jointName and effort. | |
void | RosMsgConverter::JointStateToJointVelMap (const sensor_msgs::JointState &jointState, std::map< std::string, JointVel > &jointMap) |
JointStateVel ToJntMap creates a map of jointName and velocity. | |
void | RosMsgConverter::PoseStateToFrame (const r2_msgs::PoseState &poseState, const std::string &baseName, const std::string &tipName, KDL::Frame &frame) |
PoseStateToFrame. | |
void | RosMsgConverter::PoseStateToFrameAcc (const r2_msgs::PoseState &poseState, const std::string &baseName, const std::string &tipName, KDL::FrameAcc &frame) |
PoseStateToFrameAcc. | |
void | RosMsgConverter::PoseStateToFrameAccMap (const r2_msgs::PoseState &poseState, const std::string &base, std::map< std::string, KDL::FrameAcc > &frameaccs) |
updates a map of all the frames in poseState with their new location and orientations | |
void | RosMsgConverter::PoseStateToFrameMap (const r2_msgs::PoseState &poseState, const std::string &base, std::map< std::string, KDL::Frame > &frames) |
updates a map of all the frames in poseState with their new location and orientations | |
void | RosMsgConverter::PoseStateToFrameVel (const r2_msgs::PoseState &poseState, const std::string &baseName, const std::string &tipName, KDL::FrameVel &frame) |
PoseStateToFrameVel. | |
void | RosMsgConverter::PoseStateToFrameVelMap (const r2_msgs::PoseState &poseState, const std::string &base, std::map< std::string, KDL::FrameVel > &framevels) |
updates a map of all the frames in poseState with their new location and orientations | |
void | RosMsgConverter::ToolFrameToSegment (const r2_msgs::ToolFrame &toolFrame, std::vector< ToolFrame > &segmentList) |
creates a segment map from a toolFrame message | |
void | RosMsgConverter::ToolFrameToSegmentAdd (const r2_msgs::ToolFrame &toolFrame, std::vector< ToolFrame > &segmentList, std::vector< ToolFrame > &addSegmentList) |
void | RosMsgConverter::ToolFrameToSegmentRemove (const r2_msgs::ToolFrame &toolFrame, std::vector< ToolFrame > &removeSegmentList) |
KDL::Wrench | RosMsgConverter::wrenchMsgToWrench (const geometry_msgs::Wrench &wrenchMsg) |
void | RosMsgConverter::WrenchStateToWrenchMap (const r2_msgs::WrenchState &wrenchState, std::map< std::string, KDL::Wrench > &wrenchMap) |
geometry_msgs::Wrench | RosMsgConverter::wrenchToWrenchMsg (const KDL::Wrench &wrench) |
Provides helper functions for converting to and from ros messages.
Definition in file RosMsgConverter.h.