descartes_utilities Namespace Reference

Functions
bool	toRosJointPoints (const descartes_core::RobotModel &model, const std::vector< descartes_core::TrajectoryPtPtr > &joint_traj, double default_joint_vel, std::vector< trajectory_msgs::JointTrajectoryPoint > &out)
	Converts a sequence of Descartes joint trajectory points to ROS trajectory points. Copies timing if specified, and sets vel/acc/effort fields to zeros.

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Function Documentation

bool descartes_utilities::toRosJointPoints	(	const descartes_core::RobotModel &	model,
		const std::vector< descartes_core::TrajectoryPtPtr > &	joint_traj,
		double	default_joint_vel,
		std::vector< trajectory_msgs::JointTrajectoryPoint > &	out
	)

Converts a sequence of Descartes joint trajectory points to ROS trajectory points. Copies timing if specified, and sets vel/acc/effort fields to zeros.

Parameters:

model	Descartes robot model associated with the Descartes joint trajectory
joint_traj	Sequence of 'joint trajectory points' as returned by Dense/Sparse planner
default_joint_vel	If a point, does not have timing specified, this value (in rads/s) is used to calculate a 'default' time. Must be > 0 & less than 100.
out	Buffer in which to store the resulting ROS trajectory. Only overwritten on success.

Returns:

True if the conversion succeeded. False otherwise.

Definition at line 50 of file ros_conversions.cpp.