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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef ROS_CONVERSION_H 00033 #define ROS_CONVERSION_H 00034 00035 #include "joint_data.h" 00036 00037 namespace motoman 00038 { 00039 namespace ros_conversion 00040 { 00041 00046 namespace MotomanJointIndexes 00047 { 00048 enum MotomanJointIndex 00049 { 00050 S = 0, 00051 L = 1, 00052 U = 2, 00053 R = 3, 00054 B = 4, 00055 T = 5, 00056 E = 6, 00057 COUNT = E 00058 }; 00059 } 00060 typedef MotomanJointIndexes::MotomanJointIndex MotomanJointIndex; 00061 00068 namespace RosJointIndexes 00069 { 00070 enum RosJointIndex 00071 { 00072 S = 0, 00073 L = 1, 00074 E = 2, 00075 U = 3, 00076 R = 4, 00077 B = 5, 00078 T = 6, 00079 COUNT = T 00080 }; 00081 } 00082 typedef RosJointIndexes::RosJointIndex RosJointIndex; 00083 00084 00089 namespace MotomanRobotModels 00090 { 00091 enum MotomanRobotModel 00092 { 00093 SIA_10D 00094 }; 00095 } 00096 typedef MotomanRobotModels::MotomanRobotModel MotomanRobotModel; 00097 00106 void initJointConversion(MotomanRobotModel model_number); 00107 00108 //TODO: Standardize function calls such that JointDatas are always in ROS 00109 // order and MP types are always in motoman order. The order of the 00110 // JointData type can change within a function, but when a variable 00111 // of that type enters or leaves a function is should always be in ROS 00112 // order. Move the appropriate function prototypes below to the src 00113 // file in order to hide the ordering details (essentially make them private) 00114 float toPulses(float radians, MotomanJointIndex joint); 00115 float toRadians(float pulses, MotomanJointIndex joint); 00116 00117 00125 void toRosJoint(industrial::joint_data::JointData & mp_joints, 00126 industrial::joint_data::JointData & ros_joints); 00127 00138 void toMpJoint(industrial::joint_data::JointData & ros_joints, 00139 industrial::joint_data::JointData & mp_joints); 00140 00141 00142 00143 //DEPRECATED 00144 void toMotomanJointOrder(industrial::joint_data::JointData & joints); 00145 // These functions change the JointData in place which has lead to some dangerous 00146 // bugs when they are called more than once. Use the functions above 00147 // that swap joint order and perform unit conversion automatically 00148 //DEPRECATED 00149 void toRosJointOrder(industrial::joint_data::JointData & joints); 00150 //DEPRECATED 00151 void toMotomanJointOrder(industrial::joint_data::JointData & joints); 00152 00153 00154 } //ros_conversion 00155 } //motoman 00156 00157 00158 #endif //ROS_CONVERSION_H