Public Types
typedef Segment::State::Scalar	Scalar
Public Member Functions
void	init (const trajectory_msgs::JointTrajectoryPoint &point, const std::vector< unsigned int > &permutation=std::vector< unsigned int >(), const std::vector< Scalar > &position_offset=std::vector< Scalar >())
	State ()
	State (unsigned int size)
	State (const trajectory_msgs::JointTrajectoryPoint &point, const std::vector< unsigned int > &permutation=std::vector< unsigned int >(), const std::vector< Scalar > &position_offset=std::vector< Scalar >())

Detailed Description

Definition at line 79 of file joint_trajectory_segment.h.

Member Typedef Documentation

template<class Segment >

Definition at line 81 of file joint_trajectory_segment.h.

template<class Segment >

joint_trajectory_controller::JointTrajectorySegment< Segment >::State::State ( ) [inline]

Definition at line 82 of file joint_trajectory_segment.h.

template<class Segment >

joint_trajectory_controller::JointTrajectorySegment< Segment >::State::State ( unsigned int size ) [inline]

Definition at line 83 of file joint_trajectory_segment.h.

template<class Segment >

joint_trajectory_controller::JointTrajectorySegment< Segment >::State::State	(	const trajectory_msgs::JointTrajectoryPoint &	point,
		const std::vector< unsigned int > &	permutation = `std::vector<unsigned int>()`,
		const std::vector< Scalar > &	position_offset = `std::vector<Scalar>()`
	)		`[inline]`

Parameters:

point	Trajectory point.
permutation	Permutation vector for mapping the joint order of a `point` to a desired order. For instance, if `point` contains data associated to joints `"{B, D, A, C}"`, and we are interested in constructing a segment with joints ordered as `"{A, B, C, D}"`, the permutation vector should be set to `"{2, 0, 3, 1}"`. If unspecified (empty), the joint order of `point` is preserved; if specified, its size must coincide with that of `point`. This vector can be computed using the permutation utility function.
position_offset	Position offset to applpy to the data in `point`. This parameter is useful for handling joints that wrap around (ie. continuous), to compensate for multi-turn offsets. If unspecified (empty), zero offsets are applied; if specified, its size must coincide with that of `point`.

Note:: The offsets in position_offsets correspond to joints not ordered according to point, but to joints in the expected order, that is point with permutation applied to it.

template<class Segment >

void joint_trajectory_controller::JointTrajectorySegment< Segment >::State::init	(	const trajectory_msgs::JointTrajectoryPoint &	point,
		const std::vector< unsigned int > &	permutation = `std::vector<unsigned int>()`,
		const std::vector< Scalar > &	position_offset = `std::vector<Scalar>()`
	)		`[inline]`

The documentation for this struct was generated from the following file: