Function joint_trajectory_controller::wraparound_joint

• Defined in File trajectory.hpp

Function Documentation

void joint_trajectory_controller::wraparound_joint(std::vector<double> &current_position, const std::vector<double> next_position, const std::vector<bool> &joints_angle_wraparound)

Parameters:

• current_position – The current position given from the controller, which will be adapted.

• next_position – Next position from which to compute the wraparound offset, i.e., the first trajectory point

• joints_angle_wraparound – Vector of boolean where true value corresponds to a joint that wrap around (ie. is continuous).