Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) More...
#include <joint_feedback_relay_handler.h>
Public Member Functions | |
| virtual bool | init (SmplMsgConnection *connection, std::vector< std::string > &joint_names) |
| Class initializer. | |
| JointFeedbackRelayHandler (int robot_id=-1) | |
| Constructor. | |
Protected Member Functions | |
| virtual bool | convert_message (SimpleMessage &msg_in, JointTrajectoryPoint *joint_state) |
| Convert joint message into intermediate message-type. | |
| bool | create_messages (SimpleMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback *control_state, sensor_msgs::JointState *sensor_state) |
| Convert joint message into publish message-types. | |
Protected Attributes | |
| int | robot_id_ |
Private Member Functions | |
| bool | convert_message (JointFeedbackMessage &msg_in, JointTrajectoryPoint *joint_state) |
| Convert joint feedback message into intermediate message-type. | |
Static Private Member Functions | |
| static bool | JointDataToVector (const industrial::joint_data::JointData &joints, std::vector< double > &vec, int len) |
Detailed Description
Message handler that relays joint positions (converts simple message types to ROS message types and publishes them)
THIS CLASS IS NOT THREAD-SAFE
Definition at line 57 of file joint_feedback_relay_handler.h.
Constructor & Destructor Documentation
| industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::JointFeedbackRelayHandler | ( | int | robot_id = -1 | ) | [inline] |
Constructor.
Definition at line 65 of file joint_feedback_relay_handler.h.
Member Function Documentation
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::convert_message | ( | SimpleMessage & | msg_in, |
| JointTrajectoryPoint * | joint_state | ||
| ) | [protected, virtual] |
Convert joint message into intermediate message-type.
- Parameters:
-
[in] msg_in Message from robot connection [out] joint_state JointTrajectoryPt message for intermediate processing
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 73 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::convert_message | ( | JointFeedbackMessage & | msg_in, |
| JointTrajectoryPoint * | joint_state | ||
| ) | [private] |
Convert joint feedback message into intermediate message-type.
- Parameters:
-
[in] msg_in JointFeedbackMessage from robot connection [out] joint_state JointTrajectoryPt message for intermediate processing
Definition at line 104 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::create_messages | ( | SimpleMessage & | msg_in, |
| control_msgs::FollowJointTrajectoryFeedback * | control_state, | ||
| sensor_msgs::JointState * | sensor_state | ||
| ) | [protected, virtual] |
Convert joint message into publish message-types.
- Parameters:
-
[in] msg_in Message from robot connection [out] control_state FollowJointTrajectoryFeedback message for ROS publishing [out] sensor_state JointState message for ROS publishing
- Returns:
- true on success, false otherwise
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 57 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::init | ( | SmplMsgConnection * | connection, |
| std::vector< std::string > & | joint_names | ||
| ) | [virtual] |
Class initializer.
- Parameters:
-
connection simple message connection that will be used to send replies. joint_names list of joint-names for msg-publishing. - Count and order should match data from robot connection.
- Use blank-name to exclude a joint from publishing.
- Returns:
- true on success, false otherwise (an invalid message type)
Reimplemented from industrial_robot_client::joint_relay_handler::JointRelayHandler.
Definition at line 44 of file joint_feedback_relay_handler.cpp.
| bool industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::JointDataToVector | ( | const industrial::joint_data::JointData & | joints, |
| std::vector< double > & | vec, | ||
| int | len | ||
| ) | [static, private] |
Definition at line 86 of file joint_feedback_relay_handler.cpp.
Member Data Documentation
int industrial_robot_client::joint_feedback_relay_handler::JointFeedbackRelayHandler::robot_id_ [protected] |
Definition at line 82 of file joint_feedback_relay_handler.h.
The documentation for this class was generated from the following files: