jaco_conversions.h
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00001 
00012 #ifndef JACO_CONVERSIONS_H_
00013 #define JACO_CONVERSIONS_H_
00014 
00015 #include <ros/ros.h>
00016 #include <wpi_jaco_msgs/EulerToQuaternion.h>
00017 #include <wpi_jaco_msgs/QuaternionToEuler.h>
00018 
00027 class JacoConversions
00028 {
00029 
00030 public:
00031 
00032   JacoConversions(void);
00033 
00040   bool callEQ(wpi_jaco_msgs::EulerToQuaternion::Request &req, wpi_jaco_msgs::EulerToQuaternion::Response &res);
00041 
00048   bool callQE(wpi_jaco_msgs::QuaternionToEuler::Request &req, wpi_jaco_msgs::QuaternionToEuler::Response &res);
00049 
00050 private:
00051   bool loadParameters(const ros::NodeHandle n);
00052 
00053   ros::NodeHandle n;
00054   ros::ServiceServer eqServer;
00055   ros::ServiceServer qeServer;
00056 
00057   std::string        arm_name_;
00058   std::string        topic_prefix_;
00059 };
00060 
00061 #endif


wpi_jaco_wrapper
Author(s): David Kent
autogenerated on Thu Jun 6 2019 19:43:31