trajectory_generation_test.cpp
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00034  * Author: Wim Meeussen
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00036 
00037 #include <pr2_arm_ik_action/trajectory_generation.h>
00038 #include <trajectory_msgs/JointTrajectory.h>
00039 #include <ros/ros.h>
00040 #include <iostream>
00041 
00042 using namespace std;
00043 
00044 void printTraj(const trajectory_msgs::JointTrajectory& traj)
00045 {
00046   cout << "Trajectory:" << endl;
00047   cout << " - Joints: " << endl;
00048   for (unsigned int i=0; i<traj.joint_names.size(); i++)
00049     cout << "    - " << traj.joint_names[i] << endl;
00050   cout << " - Points: " << endl;
00051   for (unsigned int i=0; i<traj.points.size(); i++){
00052     cout << "     - Time from start: " << traj.points[i].time_from_start.toSec()<< endl;
00053     cout << "     - Positions: " << endl;
00054     for (unsigned int j=0; j<traj.points[i].positions.size(); j++)
00055       cout << "      - " << traj.points[i].positions[j] << endl;
00056     cout << "     - Velocities: " << endl;
00057     for (unsigned int j=0; j<traj.points[i].velocities.size(); j++)
00058       cout << "      - " << traj.points[i].velocities[j] << endl;
00059     cout << "     - Accelerations: " << endl;
00060     for (unsigned int j=0; j<traj.points[i].accelerations.size(); j++)
00061       cout << "      - " << traj.points[i].accelerations[j] << endl;
00062   }
00063 }
00064 
00065 
00066 
00067 int main(int argc, char** argv)
00068 {
00069   ros::init(argc, argv, "trajectory_generation_test");
00070 
00071   // create test trajectory
00072   trajectory_msgs::JointTrajectory traj_in, traj_out;;
00073   traj_in.header.stamp = ros::Time::now();
00074   traj_in.joint_names.resize(3);
00075   traj_in.joint_names[0] = "wim1";
00076   traj_in.joint_names[1] = "wim2";
00077   traj_in.joint_names[2] = "wim3";
00078   traj_in.points.resize(3);
00079 
00080   traj_in.points[0].positions.resize(3);
00081   traj_in.points[0].time_from_start = ros::Duration(1.0);
00082   traj_in.points[0].positions[0] = 0.0;
00083   traj_in.points[0].positions[1] = 0.0;
00084   traj_in.points[0].positions[2] = 0.0;
00085 
00086   traj_in.points[1].positions.resize(3);
00087   traj_in.points[1].time_from_start = ros::Duration(2.0);
00088   traj_in.points[1].positions[0] = 1.0;
00089   traj_in.points[1].positions[1] = 1.0;
00090   traj_in.points[1].positions[2] = 1.0;
00091 
00092   traj_in.points[2].positions.resize(3);
00093   traj_in.points[2].time_from_start = ros::Duration(2.0);
00094   traj_in.points[2].positions[0] = 2.0;
00095   traj_in.points[2].positions[1] = 2.0;
00096   traj_in.points[2].positions[2] = 2.0;
00097   printTraj(traj_in);
00098 
00099   // create trajectory generator
00100   trajectory::TrajectoryGenerator generator(0.1, 0.5, 3);
00101   generator.generate(traj_in, traj_out);
00102   printTraj(traj_out);
00103   
00104   return 0;
00105 }


pr2_arm_move_ik
Author(s): Melonee Wise, Wim Meeussen
autogenerated on Sat Dec 28 2013 17:24:55