fanuc_utils.h

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#ifndef FANUC_UTILS_H_
#define FANUC_UTILS_H_


/*
 * Basically a copy of the 'abb_utils.h' file by J. Zoss in the 'abb_common'
 * package, but with changed namespace declarations.
 *
 * G.A. vd. Hoorn - TU Delft Robotics Institute
 */


#include <trajectory_msgs/JointTrajectory.h>
#include <vector>


namespace fanuc
{
namespace utils
{


void linkage_transform(const std::vector<double>& joints_in,
                std::vector<double>* joints_out, double J23_factor = 0);

void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
                trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor = 0);


} //fanuc
} //utils


#endif /* FANUC_UTILS_H_ */