Functions
motoman::utils Namespace Reference

Functions

bool checkJointNames (const JointTrajectoryConstPtr &trajectory)
bool checkJointNames (const trajectory_msgs::JointTrajectoryConstPtr &trajectory)
 Checks that the joint names match the assumptions made by the motoman controller interface.
bool checkTrajectory (const trajectory_msgs::JointTrajectoryConstPtr &trajectory)
 Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.
bool checkTrajectory ()
bool getVelocityLimits (std::string param_name, trajectory_msgs::JointTrajectoryConstPtr trajectory, std::vector< double > &joint_velocity_limits)
 Queries the URDF parameter server to determine what the velocity limits are for the joint names that are pased in. The order of the velocity limits returned (by reference) matches the joint name order. NOTE: This process is an expensive one. The results of this call should be cached for future needs.
bool getVelocityLimits (std::string param_name, JointTrajectoryConstPtr trajectory, std::vector< double > &joint_velocity_limits)
bool hasSuffix (const std::string &str, const std::string &suffix)
 Checks a string a the suffix.
bool hasSuffix (const string &str, const string &suffix)
double toMotomanVelocity (std::vector< double > &joint_velocity_limits, std::vector< double > &joint_velocities)
 Converts the ROS trajectory velocity (individual joint velocities to the combined motoman velocity which is highest joint velocity required as a fraction of the joint velocity limit.

Function Documentation

bool motoman::utils::checkJointNames ( const JointTrajectoryConstPtr &  trajectory)

Definition at line 58 of file utils.cpp.

bool motoman::utils::checkJointNames ( const trajectory_msgs::JointTrajectoryConstPtr &  trajectory)

Checks that the joint names match the assumptions made by the motoman controller interface.

Parameters:
trajectorywith joint names to check
Returns:
True if joint names and order match the expected motoman order
bool motoman::utils::checkTrajectory ( const trajectory_msgs::JointTrajectoryConstPtr &  trajectory)

Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.

Parameters:
trajectoryto check
Returns:
True if trajectory is valid and meets requirements

Definition at line 46 of file utils.cpp.

bool motoman::utils::getVelocityLimits ( std::string  param_name,
trajectory_msgs::JointTrajectoryConstPtr  trajectory,
std::vector< double > &  joint_velocity_limits 
)

Queries the URDF parameter server to determine what the velocity limits are for the joint names that are pased in. The order of the velocity limits returned (by reference) matches the joint name order. NOTE: This process is an expensive one. The results of this call should be cached for future needs.

Parameters:
parametername to query (typically )
trajectorywith joint names to query
jointvelocity limits returned by URDQ query
Returns:
True if all velocities were found
bool motoman::utils::getVelocityLimits ( std::string  param_name,
JointTrajectoryConstPtr  trajectory,
std::vector< double > &  joint_velocity_limits 
)

Definition at line 126 of file utils.cpp.

bool motoman::utils::hasSuffix ( const std::string &  str,
const std::string &  suffix 
)

Checks a string a the suffix.

Parameters:
stringto check
suffixto check for
Returns:
True if str has the suffix
bool motoman::utils::hasSuffix ( const string &  str,
const string &  suffix 
)

Definition at line 97 of file utils.cpp.

double motoman::utils::toMotomanVelocity ( std::vector< double > &  joint_velocity_limits,
std::vector< double > &  joint_velocities 
)

Converts the ROS trajectory velocity (individual joint velocities to the combined motoman velocity which is highest joint velocity required as a fraction of the joint velocity limit.

Parameters:
jointvelocity limits (order should match joint velocities)
jointvelocities (order should match limits)
Returns:
Combined velocity

Definition at line 177 of file utils.cpp.



dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:34