Namespaces | Enumerations | Functions
ros_conversion.h File Reference
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Namespaces

namespace  motoman
namespace  motoman::ros_conversion
namespace  motoman::ros_conversion::MotomanJointIndexes
 

Enumeration of motoman joint indicies (as returned by the getPos library calls.


namespace  motoman::ros_conversion::RosJointIndexes
 

Enumeration of ROS joint indicies. In reality these are not fixed. The ROS message structure maps joints by name and theoretically would allow for any order. Generally the order from base to tip is maintained (This is what the enumeration assumes).


Enumerations

enum  motoman::ros_conversion::MotomanJointIndexes::MotomanJointIndex {
  motoman::ros_conversion::MotomanJointIndexes::S = 0, motoman::ros_conversion::MotomanJointIndexes::L = 1, motoman::ros_conversion::MotomanJointIndexes::U = 2, motoman::ros_conversion::MotomanJointIndexes::R = 3,
  motoman::ros_conversion::MotomanJointIndexes::B = 4, motoman::ros_conversion::MotomanJointIndexes::T = 5, motoman::ros_conversion::MotomanJointIndexes::E = 6, motoman::ros_conversion::MotomanJointIndexes::COUNT = E,
  motoman::ros_conversion::MotomanJointIndexes::S = 0, motoman::ros_conversion::MotomanJointIndexes::L = 1, motoman::ros_conversion::MotomanJointIndexes::U = 2, motoman::ros_conversion::MotomanJointIndexes::R = 3,
  motoman::ros_conversion::MotomanJointIndexes::B = 4, motoman::ros_conversion::MotomanJointIndexes::T = 5, motoman::ros_conversion::MotomanJointIndexes::E = 6, motoman::ros_conversion::MotomanJointIndexes::COUNT = E
}
enum  motoman::ros_conversion::RosJointIndexes::RosJointIndex {
  motoman::ros_conversion::RosJointIndexes::S = 0, motoman::ros_conversion::RosJointIndexes::L = 1, motoman::ros_conversion::RosJointIndexes::E = 2, motoman::ros_conversion::RosJointIndexes::U = 3,
  motoman::ros_conversion::RosJointIndexes::R = 4, motoman::ros_conversion::RosJointIndexes::B = 5, motoman::ros_conversion::RosJointIndexes::T = 6, motoman::ros_conversion::RosJointIndexes::COUNT = T,
  motoman::ros_conversion::RosJointIndexes::S = 0, motoman::ros_conversion::RosJointIndexes::L = 1, motoman::ros_conversion::RosJointIndexes::E = 2, motoman::ros_conversion::RosJointIndexes::U = 3,
  motoman::ros_conversion::RosJointIndexes::R = 4, motoman::ros_conversion::RosJointIndexes::B = 5, motoman::ros_conversion::RosJointIndexes::T = 6, motoman::ros_conversion::RosJointIndexes::COUNT = T
}

Functions

void motoman::ros_conversion::toMotomanJointOrder (industrial::joint_data::JointData &joints)
void motoman::ros_conversion::toMpJoint (industrial::joint_data::JointData &ros_joints, float *mp_joints)
 Converts a ros joint (in ros order, JointData format) to a motoplus joint (in motoplus order)
void motoman::ros_conversion::toRosJoint (float *mp_joints, industrial::joint_data::JointData &ros_joints)
 Converts a motoplus joint (radians, in motoplus order) to a ros joint (radians, in ros order, JointData format)
void motoman::ros_conversion::toRosJointOrder (industrial::joint_data::JointData &joints)


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:34