44 double sampling_frequency)
45 : current_state_monitor_(state_monitor)
46 , sampling_frequency_(5.0)
47 , trajectory_(current_state_monitor_->getRobotModel(),
"")
59 if (sampling_frequency <= std::numeric_limits<double>::epsilon())
60 ROS_ERROR(
"The sampling frequency for trajectory states should be positive");
83 std::unique_ptr<boost::thread> copy;
110 std::pair<robot_state::RobotStatePtr, ros::Time> state =
current_state_monitor_->getCurrentStateAndTime();
void stopTrajectoryMonitor()
void startTrajectoryMonitor()
std::unique_ptr< boost::thread > record_states_thread_
robot_trajectory::RobotTrajectory trajectory_
ros::Time trajectory_start_time_
TrajectoryStateAddedCallback state_add_callback_
CurrentStateMonitorConstPtr current_state_monitor_
TrajectoryMonitor(const CurrentStateMonitorConstPtr &state_monitor, double sampling_frequency=5.0)
Constructor.
double sampling_frequency_
void setSamplingFrequency(double sampling_frequency)
void addSuffixWayPoint(const robot_state::RobotState &state, double dt)
ros::Time last_recorded_state_time_