trajectory_stats.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, 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
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  *
00035  *********************************************************************/
00036 
00037 /* \author: Ken Anderson */
00038 
00039 #ifndef TRAJECTORY_STATS_H
00040 #define TRAJECTORY_STATS_H
00041 
00042 #include <move_arm_warehouse/move_arm_utils.h>
00043 #include <trajectory_msgs/JointTrajectory.h>
00044 
00045 namespace planning_scene_utils
00046 {
00047 
00054 class TrajectoryStats
00055 {
00056 protected:
00057   trajectory_msgs::JointTrajectory& trajectory_;
00058 
00059 public:
00060   TrajectoryStats(trajectory_msgs::JointTrajectory& trajectory) : trajectory_(trajectory) {}
00061 
00064   ros::Duration getExecutionDuration();
00065 
00068   double getAngularDistance();
00069 
00072   double getCartesianDistance(planning_scene_utils::MotionPlanRequestData& motion_plan_req);
00073 
00074   // / @brief returns the minimal clearance distance (in meters) of the arm as it moves through the trajectory.
00075   // / Linear interpolation is used to calculate this metric.
00076   //double getClearanceDistance(planning_scene_utils::PlanningSceneData& scene);
00077 
00080   double getMaxAngularError(trajectory_msgs::JointTrajectory& trajectory_error);
00081 
00082 };
00083 
00084 };
00085 
00086 #endif // TRAJECTORY_STATS_H


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