trajectory_unwrap.h

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 * Author: Melonee Wise                                                       
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#ifndef TRAJECTORY_UNWRAP_H_
#define TRAJECTORY_UNWRAP_H_
 
#include <angles/angles.h>
#include <urdf/model.h>
#include <urdf/joint.h>
#include <trajectory_msgs/JointTrajectory.h>
 
namespace trajectory_unwrap
{
 
void unwrap(urdf::Model &robot_model, const trajectory_msgs::JointTrajectory& traj_in, 
                         trajectory_msgs::JointTrajectory& traj_out)
{
  //defualt result
  traj_out = traj_in;
 
  int num_jnts = traj_in.joint_names.size();
  int traj_pnts = traj_in.points.size(); 
  boost::shared_ptr<const urdf::Joint> joint;
 
  for(int i=0; i<num_jnts; i++)
  {
    joint = robot_model.getJoint(traj_in.joint_names[i]);
    if(joint->type == urdf::Joint::REVOLUTE)
    {
      for(int j=1; j<traj_pnts; j++)
      {
        double diff;
 
        angles::shortest_angular_distance_with_limits(traj_out.points[j-1].positions[i], traj_out.points[j].positions[i], joint->limits->lower, joint->limits->upper, diff);
        traj_out.points[j].positions[i] = traj_out.points[j-1].positions[i] + diff;
      }
    }
    if(joint->type == urdf::Joint::CONTINUOUS)
    {
      for(int j=1; j<traj_pnts; j++)
      {
        traj_out.points[j].positions[i] = traj_out.points[j-1].positions[i] + angles::shortest_angular_distance(traj_out.points[j-1].positions[i],traj_out.points[j].positions[i]);
      }
    }
  }
}
}
#endif