joint_feedback_relay_handler.h

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#ifndef JOINT_FEEDBACK_RELAY_HANDLER_H
#define JOINT_FEEDBACK_RELAY_HANDLER_H

#include "motoman_driver/industrial_robot_client/joint_relay_handler.h"
#include "simple_message/messages/joint_feedback_message.h"

namespace industrial_robot_client
{
namespace joint_feedback_relay_handler
{

using industrial::joint_feedback_message::JointFeedbackMessage;
using industrial::simple_message::SimpleMessage;
using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial_robot_client::joint_relay_handler::JointRelayHandler;
using trajectory_msgs::JointTrajectoryPoint;

class JointFeedbackRelayHandler : public industrial_robot_client::joint_relay_handler::JointRelayHandler
{

public:

  JointFeedbackRelayHandler(int robot_id=-1) : robot_id_(robot_id) {};


 virtual bool init(SmplMsgConnection* connection,
                    std::vector<std::string> &joint_names);

protected:
 int robot_id_;

  virtual bool convert_message(SimpleMessage& msg_in, JointTrajectoryPoint* joint_state);

  // override JointRelayHandler::create_messages, to check robot_id w/o error msg
  bool create_messages(SimpleMessage& msg_in,
                       control_msgs::FollowJointTrajectoryFeedback* control_state,
                       sensor_msgs::JointState* sensor_state);
private:

  static bool JointDataToVector(const industrial::joint_data::JointData &joints,
                                std::vector<double> &vec, int len);

  bool convert_message(JointFeedbackMessage& msg_in, JointTrajectoryPoint* joint_state);

};//class JointFeedbackRelayHandler

}//joint_feedback_relay_handler
}//industrial_robot_cliet


#endif /* JOINT_FEEDBACK_RELAY_HANDLER_H */