jaco_types.h

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#ifndef JACO_DRIVER_JACO_TYPES_H
#define JACO_DRIVER_JACO_TYPES_H

#include <kinova/KinovaTypes.h>
#include <geometry_msgs/Pose.h>
#include <jaco_msgs/JointAngles.h>
#include <jaco_msgs/FingerPosition.h>

#include <string>


namespace jaco
{

class JacoException : public std::exception {};


class JacoCommException : public JacoException
{
 public:
    explicit JacoCommException(const std::string& message, const int error_code);
    ~JacoCommException() throw() {}

    const char* what() const throw();
 private:
    std::string desc_;
};


class JacoPose : public CartesianInfo
{
 public:
    JacoPose() {}
    explicit JacoPose(const geometry_msgs::Pose &pose);
    explicit JacoPose(const CartesianInfo &pose);

    geometry_msgs::Pose constructPoseMsg();
    bool isCloseToOther(const JacoPose &, float tolerance) const;
};


class JacoAngles : public AngularInfo
{
 public:
    JacoAngles() {}
    explicit JacoAngles(const jaco_msgs::JointAngles &angles);
    explicit JacoAngles(const AngularInfo &angles);

    jaco_msgs::JointAngles constructAnglesMsg();
    bool isCloseToOther(const JacoAngles &, float tolerance) const;
};


class FingerAngles : public FingersPosition
{
 public:
    FingerAngles() {}
    explicit FingerAngles(const jaco_msgs::FingerPosition &position);
    explicit FingerAngles(const FingersPosition &angle);

    jaco_msgs::FingerPosition constructFingersMsg();
    bool isCloseToOther(const FingerAngles &, float tolerance) const;
};

}  // namespace jaco
#endif  // JACO_DRIVER_JACO_TYPES_H