cartesian_joint_converter.h
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00002 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
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00007 * Redistributions of source code must retain the above copyright notice, this
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_
00031 #define XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_
00032 
00033 #include <string>
00034 
00035 #include <ros/publisher.h>
00036 #include <ros/subscriber.h>
00037 
00038 #include <xpp_msgs/RobotStateCartesian.h>
00039 
00040 #include "inverse_kinematics.h"
00041 
00042 namespace xpp {
00043 
00051 class CartesianJointConverter {
00052 public:
00059   CartesianJointConverter (const InverseKinematics::Ptr& ik,
00060                            const std::string& cart_topic,
00061                            const std::string& joint_topic);
00062   virtual ~CartesianJointConverter () = default;
00063 
00064 private:
00065   void StateCallback(const xpp_msgs::RobotStateCartesian& msg);
00066 
00067   ros::Subscriber cart_state_sub_;
00068   ros::Publisher  joint_state_pub_;
00069 
00070   InverseKinematics::Ptr inverse_kinematics_;
00071 };
00072 
00073 } /* namespace xpp */
00074 
00075 #endif /* XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_ */


xpp_vis
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 5 2019 02:55:52