Public Member Functions | Protected Attributes
planning_scene_utils::TrajectoryStats Class Reference

#include <trajectory_stats.h>

List of all members.

Public Member Functions

double getAngularDistance ()
 returns the sum of the angular movements (in radians) by every joint in the arm as it moves through the trajectory. Linear interpolation is used to calculate this metric.
double getCartesianDistance (planning_scene_utils::MotionPlanRequestData &motion_plan_req)
 Returns the cartesian distance (in meters) travelled by the end effector as it moves through the trajectory. Linear interpolation is used to calculate this metric.
ros::Duration getExecutionDuration ()
 returns the (estimated/actual) duration of the trajectory (time between start and goal points). Note, if the trajectory does not have valid timestamps, the return value will probably be zero duration.
double getMaxAngularError (trajectory_msgs::JointTrajectory &trajectory_error)
 returns the maximum angular error over all joints for all points on the trajectory This is useful for determining how well the controller executed the trajectory.
 TrajectoryStats (trajectory_msgs::JointTrajectory &trajectory)

Protected Attributes

trajectory_msgs::JointTrajectory & trajectory_

Detailed Description

class TrajectoryStats analyzes a trajectory and returns statistics. Some of these statistics require extra information, such as the planning scene, and/or the motion plan request. All new statistics should be added to this class (or subclasses).

Definition at line 54 of file trajectory_stats.h.


Constructor & Destructor Documentation

planning_scene_utils::TrajectoryStats::TrajectoryStats ( trajectory_msgs::JointTrajectory &  trajectory) [inline]

Definition at line 60 of file trajectory_stats.h.


Member Function Documentation

returns the sum of the angular movements (in radians) by every joint in the arm as it moves through the trajectory. Linear interpolation is used to calculate this metric.

Definition at line 60 of file trajectory_stats.cpp.

Returns the cartesian distance (in meters) travelled by the end effector as it moves through the trajectory. Linear interpolation is used to calculate this metric.

Definition at line 89 of file trajectory_stats.cpp.

returns the (estimated/actual) duration of the trajectory (time between start and goal points). Note, if the trajectory does not have valid timestamps, the return value will probably be zero duration.

Definition at line 47 of file trajectory_stats.cpp.

double TrajectoryStats::getMaxAngularError ( trajectory_msgs::JointTrajectory &  trajectory_error)

returns the maximum angular error over all joints for all points on the trajectory This is useful for determining how well the controller executed the trajectory.

Definition at line 138 of file trajectory_stats.cpp.


Member Data Documentation

trajectory_msgs::JointTrajectory& planning_scene_utils::TrajectoryStats::trajectory_ [protected]

Definition at line 57 of file trajectory_stats.h.


The documentation for this class was generated from the following files:


move_arm_warehouse
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Fri Dec 6 2013 21:12:34