Provides a class for breadcrumbing an online trajectory. More...

Inheritance diagram for OnlineJointTrajectoryFollower:

Public Member Functions
virtual double	getDuration () const
virtual const std::vector < std::string > &	getJointNames () const
virtual void	getNextPoint (sensor_msgs::JointState &nextPoint, ros::Duration &timeFromStart)
	get next point
	OnlineJointTrajectoryFollower ()
void	setTrajectory (boost::shared_ptr< RosMsgJointTrajectory > trajectory_in, double timestep_in, double velocityFactor_in=1.)
	set trajectory
virtual	~OnlineJointTrajectoryFollower ()
Private Attributes
double	time
double	timestep
boost::shared_ptr < RosMsgJointTrajectory >	trajectory

Detailed Description

Provides a class for breadcrumbing an online trajectory.

Definition at line 100 of file JointTrajectoryFollower.h.

Constructor & Destructor Documentation

OnlineJointTrajectoryFollower::OnlineJointTrajectoryFollower ( )

virtual OnlineJointTrajectoryFollower::~OnlineJointTrajectoryFollower ( ) [inline, virtual]

Definition at line 104 of file JointTrajectoryFollower.h.

virtual double OnlineJointTrajectoryFollower::getDuration ( ) const [inline, virtual]

Definition at line 108 of file JointTrajectoryFollower.h.

virtual const std::vector<std::string>& OnlineJointTrajectoryFollower::getJointNames ( ) const [inline, virtual]

Definition at line 106 of file JointTrajectoryFollower.h.

void OnlineJointTrajectoryFollower::getNextPoint	(	sensor_msgs::JointState &	nextPoint,
		ros::Duration &	timeFromStart
	)		`[virtual]`

get next point

Get the next point in the trajectory for the online joint.

Parameters:

nextPoint	joint state of next point, returned
timeFromStart	time from start of next point, returned

Parameters:

nextPoint	Next joint state
timeFromStart	Time from the start of beginning of trajectory

Exceptions:

runtime_error If trajectory is inactive

void OnlineJointTrajectoryFollower::setTrajectory	(	boost::shared_ptr< RosMsgJointTrajectory >	trajectoryIn,
		double	timestep_in,
		double	velocityFactorIn = `1.`
	)