trajectory_stats.h
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00036 
00037 /* \author: Ken Anderson */
00038 
00039 #ifndef TRAJECTORY_STATS_H
00040 #define TRAJECTORY_STATS_H
00041 
00042 #include <trajectory_msgs/JointTrajectory.h>
00043 
00044 namespace trajectory_execution_monitor
00045 {
00046 
00052 class TrajectoryStats
00053 {
00054 public:
00055 
00058   static ros::Duration getDuration(const trajectory_msgs::JointTrajectory& trajectory);
00059 
00063   static double getAngularDistance(const trajectory_msgs::JointTrajectory& trajectory, unsigned int startIndex=0);
00064 
00068   static double getMaxAngularVelocity(const trajectory_msgs::JointTrajectory& trajectory, unsigned int startIndex=0);
00069 
00072   static double distance(const trajectory_msgs::JointTrajectoryPoint& point, const trajectory_msgs::JointTrajectoryPoint& point2, const std::vector<std::string> joint_names=std::vector<std::string>() );
00073 
00074 };
00075 
00076 };
00077 
00078 #endif // TRAJECTORY_STATS_H


trajectory_execution_monitor
Author(s): Gil Jones
autogenerated on Fri Dec 6 2013 21:09:24