JointStatePublisher.hpp
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00001 /*
00002  * Copyright (c) 2010, Robot Control and Pattern Recognition Group, Warsaw University of Technology.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Robot Control and Pattern Recognition Group,
00014  *       Warsaw University of Technology nor the names of its contributors may
00015  *       be used to endorse or promote products derived from this software
00016  *       without specific prior written permission.
00017  *
00018  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028  * POSSIBILITY OF SUCH DAMAGE.
00029  */
00030 
00031 #ifndef JOINTSTATEPUBLISHER_HPP
00032 #define JOINTSTATEPUBLISHER_HPP
00033 
00034 #include <string>
00035 #include <vector>
00036 
00037 #include <rtt/TaskContext.hpp>
00038 #include <rtt/Port.hpp>
00039 #include <rtt/Property.hpp>
00040 
00041 #include "sensor_msgs/JointState.h"
00042 
00043 class JointStatePublisher : public RTT::TaskContext
00044 {
00045 public:
00046   JointStatePublisher(const std::string& name);
00047   ~JointStatePublisher();
00048 
00049   bool configureHook();
00050   void updateHook();
00051 protected:
00052   RTT::InputPort<std::vector<double> > msr_jnt_pos_port_;
00053   RTT::OutputPort<sensor_msgs::JointState> joint_state_port_;
00054 
00055   RTT::Property<std::vector<std::string> > joint_names_prop;
00056 private:
00057   sensor_msgs::JointState joint_state_;
00058   std::vector<double> jnt_pos_;
00059   unsigned int number_of_joints_;
00060   std::vector<std::string> names_;
00061 };
00062 
00063 #endif
00064 
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oro_joint_state_publisher
Author(s): Konrad Banachowicz
autogenerated on Thu Nov 14 2013 11:56:27