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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 
)


sr_mechanism_controllers
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:06:50