jaco Namespace Reference

Classes
class	JacoArmTrajectoryController
Functions
static double	nearest_equivalent (double desired, double current)
static double	simplify_angle (double angle)

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Function Documentation

static double jaco::nearest_equivalent	(	double	desired,
		double	current
	)		[inline, static]

Calculates nearest desired angle to the current angle

Parameters:

desired	desired joint angle [-pi, pi]
current	current angle (-inf, inf)

Returns:

the closest equivalent angle (-inf, inf)

Definition at line 218 of file jaco_arm_trajectory_node.cpp.

static double jaco::simplify_angle

(

double

angle

)

[inline, static]

Adjust angle to equivalent angle on [-pi, pi]

Parameters:

angle

the angle to be simplified (-inf, inf)

Returns:

the simplified angle on [-pi, pi]

Definition at line 143 of file jaco_arm_trajectory_node.cpp.