Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
#include <unnormalize_joint_trajectory.h>
Public Member Functions | |
virtual bool | smooth (const T &trajectory_in, T &trajectory_out) const |
UnNormalizeJointTrajectory () | |
virtual | ~UnNormalizeJointTrajectory () |
Private Member Functions | |
void | jointStatesCallback (const sensor_msgs::JointState::ConstPtr &states) |
Remembers the latest joint state. | |
Private Attributes | |
ros::Subscriber | joint_states_sub_ |
Subscriber to joint states topic. | |
ros::NodeHandle | nh_ |
The node handle. | |
sensor_msgs::JointState::ConstPtr | raw_joint_states_ |
The latest joint states received. | |
urdf::Model | robot_model_ |
A model of the robot to see which joints wrap around. | |
bool | robot_model_initialized_ |
Flag that tells us if the robot model was initialized successfully. |
Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits.
Definition at line 49 of file unnormalize_joint_trajectory.h.
joint_normalization_filters::UnNormalizeJointTrajectory< T >::UnNormalizeJointTrajectory | ( | ) | [inline] |
Definition at line 79 of file unnormalize_joint_trajectory.h.
joint_normalization_filters::UnNormalizeJointTrajectory< T >::~UnNormalizeJointTrajectory | ( | ) | [inline, virtual] |
Definition at line 98 of file unnormalize_joint_trajectory.h.
void joint_normalization_filters::UnNormalizeJointTrajectory< T >::jointStatesCallback | ( | const sensor_msgs::JointState::ConstPtr & | states | ) | [inline, private] |
Remembers the latest joint state.
Definition at line 175 of file unnormalize_joint_trajectory.h.
bool joint_normalization_filters::UnNormalizeJointTrajectory< T >::smooth | ( | const T & | trajectory_in, | |
T & | trajectory_out | |||
) | const [inline, virtual] |
Definition at line 103 of file unnormalize_joint_trajectory.h.
ros::Subscriber joint_normalization_filters::UnNormalizeJointTrajectory< T >::joint_states_sub_ [private] |
Subscriber to joint states topic.
Definition at line 58 of file unnormalize_joint_trajectory.h.
ros::NodeHandle joint_normalization_filters::UnNormalizeJointTrajectory< T >::nh_ [private] |
The node handle.
Definition at line 46 of file unnormalize_joint_trajectory.h.
sensor_msgs::JointState::ConstPtr joint_normalization_filters::UnNormalizeJointTrajectory< T >::raw_joint_states_ [private] |
The latest joint states received.
Definition at line 55 of file unnormalize_joint_trajectory.h.
urdf::Model joint_normalization_filters::UnNormalizeJointTrajectory< T >::robot_model_ [private] |
A model of the robot to see which joints wrap around.
Definition at line 49 of file unnormalize_joint_trajectory.h.
bool joint_normalization_filters::UnNormalizeJointTrajectory< T >::robot_model_initialized_ [private] |
Flag that tells us if the robot model was initialized successfully.
Definition at line 52 of file unnormalize_joint_trajectory.h.