cartesian_joint_converter.h

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#ifndef XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_
#define XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_
 
#include <string>
 
#include <ros/publisher.h>
#include <ros/subscriber.h>
 
#include <xpp_msgs/RobotStateCartesian.h>
 
#include "inverse_kinematics.h"
 
namespace xpp {
 
class CartesianJointConverter {
public:
  CartesianJointConverter (const InverseKinematics::Ptr& ik,
                           const std::string& cart_topic,
                           const std::string& joint_topic);
  virtual ~CartesianJointConverter () = default;
 
private:
  void StateCallback(const xpp_msgs::RobotStateCartesian& msg);
 
  ros::Subscriber cart_state_sub_;
  ros::Publisher  joint_state_pub_;
 
  InverseKinematics::Ptr inverse_kinematics_;
};
 
} /* namespace xpp */
 
#endif /* XPP_VIS_CARTESIAN_JOINT_CONVERTER_H_ */