joint_spline_trajectory_action_controller.cpp File Reference

Implement an actionlib server to execute a control_msgs::JointTrajectoryAction. Follows the given trajectory with the arm. More...

#include "sr_mechanism_controllers/joint_spline_trajectory_action_controller.hpp"
#include <controller_manager_msgs/ListControllers.h>
#include <sr_utilities/getJointState.h>
#include <std_msgs/Float64.h>
#include <sr_robot_msgs/sendupdate.h>
#include <map>
#include <string>
#include <vector>

Include dependency graph for joint_spline_trajectory_action_controller.cpp:

Go to the source code of this file.

Namespaces
	shadowrobot

Functions
static void	shadowrobot::generatePowers (int n, double x, double *powers)
static void	shadowrobot::getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void	shadowrobot::getQuinticSplineCoefficients (double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
int	main (int argc, char **argv)
static void	shadowrobot::sampleQuinticSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a quintic spline segment at a particular time. More...

Detailed Description

Implement an actionlib server to execute a control_msgs::JointTrajectoryAction. Follows the given trajectory with the arm.

Author

Guillaume Walck (UPMC) & Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m

Date

Fri Mar 4 13:08:22 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file joint_spline_trajectory_action_controller.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 921 of file joint_spline_trajectory_action_controller.cpp.