abb_utils.cpp

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#include "abb_driver/abb_utils.h"
#include "ros/ros.h"

namespace abb
{
namespace utils
{

// TBD: This transform should also account for velocity/acceleration affects due to linkage, so that velocity calculation is accurate
void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor)
{
  *pt_out = pt_in;
  linkage_transform(pt_in.positions, &(pt_out->positions), J23_factor);
}

void linkage_transform(const std::vector<double>& points_in, std::vector<double>* points_out, double J23_factor)
{
  ROS_ASSERT(points_in.size() > 3);

  *points_out = points_in;
  points_out->at(2) += J23_factor * points_out->at(1);
}

} //abb

} //utils