joint_spline_trajectory_action_controller.cpp File Reference

Implement an actionlib server to execute a pr2_controllers_msgs::JointTrajectoryAction. Follows the given trajectory with the arm. More...

#include "sr_mechanism_controllers/joint_spline_trajectory_action_controller.hpp"
#include <pr2_mechanism_msgs/ListControllers.h>
#include <sr_utilities/getJointState.h>
#include <std_msgs/Float64.h>
#include <sr_robot_msgs/sendupdate.h>

Include dependency graph for joint_spline_trajectory_action_controller.cpp:

Go to the source code of this file.

Namespaces
namespace	shadowrobot
Functions
static void	shadowrobot::generatePowers (int n, double x, double *powers)
static void	shadowrobot::getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void	shadowrobot::getQuinticSplineCoefficients (double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
int	main (int argc, char **argv)
static void	shadowrobot::sampleQuinticSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a quintic spline segment at a particular time.

---

Detailed Description

Implement an actionlib server to execute a pr2_controllers_msgs::JointTrajectoryAction. Follows the given trajectory with the arm.

Author:

Guillaume Walck (UPMC) & Ugo Cupcic <ugo@shadowrobot.com>

Date:

Fri Mar 4 13:08:22 2011

Definition in file joint_spline_trajectory_action_controller.cpp.

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 868 of file joint_spline_trajectory_action_controller.cpp.