abb_utils.cpp
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00001 /*
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00031 
00032 #include "abb_driver/abb_utils.h"
00033 #include "ros/ros.h"
00034 
00035 namespace abb
00036 {
00037 namespace utils
00038 {
00039 
00040 // TBD: This transform should also account for velocity/acceleration affects due to linkage, so that velocity calculation is accurate
00041 void linkage_transform(const trajectory_msgs::JointTrajectoryPoint& pt_in, trajectory_msgs::JointTrajectoryPoint* pt_out, double J23_factor)
00042 {
00043   *pt_out = pt_in;
00044   linkage_transform(pt_in.positions, &(pt_out->positions), J23_factor);
00045 }
00046 
00047 void linkage_transform(const std::vector<double>& points_in, std::vector<double>* points_out, double J23_factor)
00048 {
00049   ROS_ASSERT(points_in.size() > 3);
00050 
00051   *points_out = points_in;
00052   points_out->at(2) += J23_factor * points_out->at(1);
00053 }
00054 
00055 } //abb
00056 
00057 } //utils


abb_driver
Author(s): Edward Venator, Jeremy Zoss, Shaun Edwards
autogenerated on Thu Jun 6 2019 20:43:53