utils.h
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00001 /*
00002 * Software License Agreement (BSD License) 
00003 *
00004 * Copyright (c) 2011, Yaskawa America, Inc.
00005 * All rights reserved.
00006 *
00007 * Redistribution and use in source and binary forms, with or without
00008 * modification, are permitted provided that the following conditions are met:
00009 *
00010 *       * Redistributions of source code must retain the above copyright
00011 *       notice, this list of conditions and the following disclaimer.
00012 *       * Redistributions in binary form must reproduce the above copyright
00013 *       notice, this list of conditions and the following disclaimer in the
00014 *       documentation and/or other materials provided with the distribution.
00015 *       * Neither the name of the Yaskawa America, Inc., nor the names 
00016 *       of its contributors may be used to endorse or promote products derived
00017 *       from this software without specific prior written permission.
00018 *
00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029 * POSSIBILITY OF SUCH DAMAGE.
00030 */ 
00031 
00032 #ifndef _MOTOMAN_UTILS_H
00033 #define _MOTOMAN_UTILS_H
00034 
00035 #include <vector>
00036 #include <string>
00037 #include <trajectory_msgs/JointTrajectory.h>
00038 #include <trajectory_msgs/JointTrajectoryPoint.h>
00039 
00040 
00041 namespace motoman
00042 {
00043 namespace utils
00044 {
00045 
00054 bool checkTrajectory(const trajectory_msgs::JointTrajectoryConstPtr& trajectory);
00055 bool checkTrajectory();
00056 
00065   bool checkJointNames(const trajectory_msgs::JointTrajectoryConstPtr& trajectory);
00066 
00075    bool hasSuffix(const std::string &str, const std::string &suffix);
00076 
00089    bool getVelocityLimits(std::string param_name,
00090                           trajectory_msgs::JointTrajectoryConstPtr trajectory,
00091                           std::vector<double> &joint_velocity_limits);
00092 
00103   double toMotomanVelocity(std::vector<double> &joint_velocity_limits,
00104                          std::vector<double> &joint_velocities);
00105 
00106 } // utils
00107 } // motoman
00108 
00109 #endif


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:34