joint_normalization_filters::UnNormalizeJointTrajectory< T > Class Template Reference

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.

Detailed Description

template<typename T>
class joint_normalization_filters::UnNormalizeJointTrajectory< T >

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.

Constructor & Destructor Documentation

template<typename T >

joint_normalization_filters::UnNormalizeJointTrajectory< T >::UnNormalizeJointTrajectory ( ) [inline]

Definition at line 79 of file unnormalize_joint_trajectory.h.

template<typename T >

joint_normalization_filters::UnNormalizeJointTrajectory< T >::~UnNormalizeJointTrajectory ( ) [inline, virtual]

Definition at line 98 of file unnormalize_joint_trajectory.h.

Member Function Documentation

template<typename T >

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.

template<typename T >