fanuc_joint_streamer_node.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  * Copyright (c) 2013, TU Delft Robotics Institute
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00013  *  * Redistributions in binary form must reproduce the above
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00017  *  * Neither the name of the TU Delft Robotics Institute nor the names
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00020  *    permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  *
00036  * Author: G.A. vd. Hoorn - TU Delft Robotics Institute
00037  */
00038 
00039 #include <fanuc_common/fanuc_utils.h>
00040 
00041 #include <industrial_robot_client/joint_trajectory_streamer.h>
00042 
00043 
00044 using industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer;
00045 
00046 
00047 class Fanuc_JointTrajectoryStreamer : public JointTrajectoryStreamer
00048 {
00049         int J23_factor_;
00050 
00051 
00052 public:
00053         Fanuc_JointTrajectoryStreamer() : JointTrajectoryStreamer(), J23_factor_(0)
00054         {
00055                 if (ros::param::has("J23_factor"))
00056                 {
00057                         ros::param::get("J23_factor", this->J23_factor_);
00058                 }
00059                 else
00060                 {
00061                         // TODO: abort on missing parameter
00062                         ROS_ERROR("Joint 2-3 linkage factor parameter not supplied.");
00063                 }
00064         }
00065 
00066 
00067         virtual ~Fanuc_JointTrajectoryStreamer() {}
00068 
00069 
00070         bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
00071                         trajectory_msgs::JointTrajectoryPoint* pt_out)
00072         {
00073                 // sending points back to the Fanuc, so invert factor
00074                 fanuc::utils::linkage_transform(pt_in, pt_out, -J23_factor_);
00075 
00076                 return true;
00077         }
00078 };
00079 
00080 
00081 int main(int argc, char** argv)
00082 {
00083         // initialize node
00084         ros::init(argc, argv, "motion_interface");
00085 
00086         // launch the default JointTrajectoryStreamer connection/handlers
00087         Fanuc_JointTrajectoryStreamer motionInterface;
00088 
00089         motionInterface.init();
00090         motionInterface.run();
00091 
00092         return 0;
00093 }
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fanuc_common
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Sun Jul 7 2013 03:08:43