Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) More...

#include <joint_feedback_ex_relay_handler.h>

Inheritance diagram for industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler:

[legend]

Public Member Functions
virtual bool	init (SmplMsgConnection *connection, std::vector< std::string > &joint_names)
	Class initializer. More...

virtual bool	init (SmplMsgConnection *connection, std::map< int, RobotGroup > &robot_groups)
	Class initializer. More...

	JointFeedbackExRelayHandler (int groups_number=-1)
	Constructor. More...

Public Member Functions inherited from industrial_robot_client::joint_relay_handler::JointRelayHandler
bool	init (industrial::smpl_msg_connection::SmplMsgConnection *connection, std::vector< std::string > &joint_names)

	JointRelayHandler ()

	JointRelayHandler ()
	Constructor. More...

Public Member Functions inherited from industrial::message_handler::MessageHandler
bool	callback (industrial::simple_message::SimpleMessage &in)

int	getMsgType ()

	MessageHandler ()

	~MessageHandler ()

Protected Member Functions
virtual bool	convert_message (JointFeedbackMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id)
	Convert joint message into intermediate message-type. More...

bool	create_messages (SimpleMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state)
	Convert joint message into publish message-types. More...

bool	create_messages (JointFeedbackMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state, int robot_id)

Protected Member Functions inherited from industrial_robot_client::joint_relay_handler::JointRelayHandler
virtual bool	convert_message (SimpleMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id)
	Convert joint message into intermediate message-type. More...

virtual bool	convert_message (SimpleMessage &msg_in, JointTrajectoryPoint *joint_state)
	Convert joint message into intermediate message-type. More...

virtual bool	create_messages (JointMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state)

virtual bool	create_messages (SimpleMessage &msg_in, control_msgs::FollowJointTrajectoryFeedback control_state, sensor_msgs::JointState sensor_state, int robot_id)
	Convert joint message into publish message-types. More...

virtual bool	init (industrial::smpl_msg_connection::SmplMsgConnection *connection, int msg_type, std::vector< std::string > &joint_names)
	Class initializer. More...

virtual bool	init (industrial::smpl_msg_connection::SmplMsgConnection *connection, int msg_type, std::map< int, RobotGroup > &robot_groups)
	Class initializer. More...

bool	internalCB (JointMessage &in)

bool	internalCB (SimpleMessage &in)
	Callback executed upon receiving a joint message. More...

virtual bool	select (const std::vector< double > &all_joint_pos, const std::vector< std::string > &all_joint_names, std::vector< double > pub_joint_pos, std::vector< std::string > pub_joint_names)

virtual bool	select (const JointTrajectoryPoint &all_joint_state, const std::vector< std::string > &all_joint_names, JointTrajectoryPoint pub_joint_state, std::vector< std::string > pub_joint_names)
	Select specific joints for publishing. More...

virtual bool	select (const DynamicJointsGroup &all_joint_state, const std::vector< std::string > &all_joint_names, DynamicJointsGroup pub_joint_state, std::vector< std::string > pub_joint_names)

virtual bool	transform (const std::vector< double > &pos_in, std::vector< double > *pos_out)

virtual bool	transform (const JointTrajectoryPoint &state_in, JointTrajectoryPoint *state_out)
	Transform joint state before publishing. Can be overridden to implement, e.g. robot-specific joint coupling. More...

virtual bool	transform (const DynamicJointsGroup &state_in, DynamicJointsGroup *state_out)
	Transform joint state before publishing. Can be overridden to implement, e.g. robot-specific joint coupling. More...

Protected Member Functions inherited from industrial::message_handler::MessageHandler
industrial::smpl_msg_connection::SmplMsgConnection *	getConnection ()

bool	init (int msg_type, industrial::smpl_msg_connection::SmplMsgConnection *connection)

Protected Attributes
ros::Publisher	dynamic_pub_joint_control_state_

int	groups_number_

ros::Publisher	pub_joint_control_state_

ros::Publisher	pub_joint_sensor_state_

bool	version_0_

Protected Attributes inherited from industrial_robot_client::joint_relay_handler::JointRelayHandler
std::vector< std::string >	all_joint_names_

ros::NodeHandle	node_

std::map< int, ros::Publisher >	pub_controls_

ros::Publisher	pub_joint_control_state_

ros::Publisher	pub_joint_sensor_state_

std::map< int, ros::Publisher >	pub_states_

std::map< int, RobotGroup >	robot_groups_

Private Member Functions
bool	convert_message (JointFeedbackExMessage &msg_in, DynamicJointsGroup *joint_state, int robot_id)
	Convert joint feedback message into intermediate message-type. More...

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

Private Attributes
industrial::shared_types::shared_int	valid_fields_from_message_
	bit-mask of (optional) fields that have been initialized with valid data More...

Additional Inherited Members
Public Types inherited from industrial_robot_client::joint_relay_handler::JointRelayHandler
typedef std::map< int, RobotGroup >::iterator	it_type

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 68 of file joint_feedback_ex_relay_handler.h.

Constructor & Destructor Documentation

industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::JointFeedbackExRelayHandler ( int groups_number = -1 )

inlineexplicit

Constructor.

Definition at line 74 of file joint_feedback_ex_relay_handler.h.

Member Function Documentation

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::convert_message	(	JointFeedbackMessage &	msg_in,
		DynamicJointsGroup *	joint_state,
		int	robot_id
	)

protectedvirtual

Convert joint message into intermediate message-type.

Parameters

[in]	msg_in	Message from robot connection
[out]	joint_state	JointTrajectoryPt message for intermediate processing

Definition at line 168 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::convert_message	(	JointFeedbackExMessage &	msg_in,
		DynamicJointsGroup *	joint_state,
		int	robot_id
	)

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

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::create_messages	(	SimpleMessage &	msg_in,
		control_msgs::FollowJointTrajectoryFeedback *	control_state,
		sensor_msgs::JointState *	sensor_state
	)

protectedvirtual

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 85 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::create_messages	(	JointFeedbackMessage &	msg_in,
		control_msgs::FollowJointTrajectoryFeedback *	control_state,
		sensor_msgs::JointState *	sensor_state,
		int	robot_id
	)

protected

Definition at line 118 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::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 72 of file joint_feedback_ex_relay_handler.cpp.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::init	(	SmplMsgConnection *	connection,
		std::map< int, RobotGroup > &	robot_groups
	)

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 51 of file joint_feedback_ex_relay_handler.cpp.

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

staticprivate

Definition at line 243 of file joint_feedback_ex_relay_handler.cpp.

Member Data Documentation

ros::Publisher industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::dynamic_pub_joint_control_state_

protected

Definition at line 98 of file joint_feedback_ex_relay_handler.h.

int industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::groups_number_

protected

Definition at line 94 of file joint_feedback_ex_relay_handler.h.

ros::Publisher industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::pub_joint_control_state_

protected

Definition at line 97 of file joint_feedback_ex_relay_handler.h.

ros::Publisher industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::pub_joint_sensor_state_

protected

Definition at line 99 of file joint_feedback_ex_relay_handler.h.

industrial::shared_types::shared_int industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::valid_fields_from_message_

private

bit-mask of (optional) fields that have been initialized with valid data

See also: enum ValidFieldTypes

Definition at line 130 of file joint_feedback_ex_relay_handler.h.

bool industrial_robot_client::joint_feedback_ex_relay_handler::JointFeedbackExRelayHandler::version_0_

protected

Definition at line 95 of file joint_feedback_ex_relay_handler.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation