utils.h

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#ifndef _MOTOMAN_UTILS_H
#define _MOTOMAN_UTILS_H

#include <vector>
#include <string>
#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>


namespace motoman
{
namespace utils
{

bool checkTrajectory(const trajectory_msgs::JointTrajectoryConstPtr& trajectory);
bool checkTrajectory();

  bool checkJointNames(const trajectory_msgs::JointTrajectoryConstPtr& trajectory);

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

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

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

} // utils
} // motoman

#endif