Functions
bool	checkJointNames (const JointTrajectoryConstPtr &trajectory)
bool	checkJointNames (const trajectory_msgs::JointTrajectoryConstPtr &trajectory)
	Checks that the joint names match the assumptions made by the motoman controller interface.
bool	checkTrajectory (const trajectory_msgs::JointTrajectoryConstPtr &trajectory)
	Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.
bool	checkTrajectory ()
bool	getVelocityLimits (std::string param_name, trajectory_msgs::JointTrajectoryConstPtr trajectory, std::vector< double > &joint_velocity_limits)
	Queries the URDF parameter server to determine what the velocity limits are for the joint names that are pased in. The order of the velocity limits returned (by reference) matches the joint name order. NOTE: This process is an expensive one. The results of this call should be cached for future needs.
bool	getVelocityLimits (std::string param_name, JointTrajectoryConstPtr trajectory, std::vector< double > &joint_velocity_limits)
bool	hasSuffix (const std::string &str, const std::string &suffix)
	Checks a string a the suffix.
bool	hasSuffix (const string &str, const string &suffix)
double	toMotomanVelocity (std::vector< double > &joint_velocity_limits, std::vector< double > &joint_velocities)
	Converts the ROS trajectory velocity (individual joint velocities to the combined motoman velocity which is highest joint velocity required as a fraction of the joint velocity limit.

Function Documentation

bool motoman::utils::checkJointNames ( const JointTrajectoryConstPtr & trajectory )

Definition at line 58 of file utils.cpp.

bool motoman::utils::checkJointNames ( const trajectory_msgs::JointTrajectoryConstPtr & trajectory )

Checks that the joint names match the assumptions made by the motoman controller interface.

Parameters:

trajectory with joint names to check

Returns:: True if joint names and order match the expected motoman order

bool motoman::utils::checkTrajectory ( const trajectory_msgs::JointTrajectoryConstPtr & trajectory )

Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.

Parameters:

trajectory to check

Returns:: True if trajectory is valid and meets requirements

Definition at line 46 of file utils.cpp.

bool motoman::utils::checkTrajectory ( )

bool motoman::utils::getVelocityLimits	(	std::string	param_name,
		trajectory_msgs::JointTrajectoryConstPtr	trajectory,
		std::vector< double > &	joint_velocity_limits
	)

Queries the URDF parameter server to determine what the velocity limits are for the joint names that are pased in. The order of the velocity limits returned (by reference) matches the joint name order. NOTE: This process is an expensive one. The results of this call should be cached for future needs.

Parameters:

parameter	name to query (typically )
trajectory	with joint names to query
joint	velocity limits returned by URDQ query

Returns:: True if all velocities were found

bool motoman::utils::getVelocityLimits	(	std::string	param_name,
		JointTrajectoryConstPtr	trajectory,
		std::vector< double > &	joint_velocity_limits
	)

Definition at line 126 of file utils.cpp.

bool motoman::utils::hasSuffix	(	const std::string &	str,
		const std::string &	suffix
	)

Checks a string a the suffix.

Parameters:

string	to check
suffix	to check for

Returns:: True if str has the suffix

bool motoman::utils::hasSuffix	(	const string &	str,
		const string &	suffix
	)

Definition at line 97 of file utils.cpp.

double motoman::utils::toMotomanVelocity	(	std::vector< double > &	joint_velocity_limits,
		std::vector< double > &	joint_velocities
	)

Converts the ROS trajectory velocity (individual joint velocities to the combined motoman velocity which is highest joint velocity required as a fraction of the joint velocity limit.

Parameters:

joint	velocity limits (order should match joint velocities)
joint	velocities (order should match limits)

Returns:: Combined velocity

Definition at line 177 of file utils.cpp.

Functions

Function Documentation