Provides a class for breadcrumbing a preplanned trajectory. More...
#include <JointTrajectoryFollower.h>
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 | |
| PreplannedJointTrajectoryFollower () | |
| void | setTrajectory (const trajectory_msgs::JointTrajectory &trajectory_in, double timestep_in=0.03333, double velocityFactor_in=1.) |
| set trajectory | |
| virtual | ~PreplannedJointTrajectoryFollower () |
Private Attributes | |
| double | currentTrajCount |
| double | timestep |
| trajectory_msgs::JointTrajectory | trajectory |
| trajectory_msgs::JointTrajectory::_points_type::const_iterator | trajIt |
Detailed Description
Provides a class for breadcrumbing a preplanned trajectory.
Definition at line 63 of file JointTrajectoryFollower.h.
Constructor & Destructor Documentation
Definition at line 41 of file JointTrajectoryFollower.cpp.
| virtual PreplannedJointTrajectoryFollower::~PreplannedJointTrajectoryFollower | ( | ) | [inline, virtual] |
Definition at line 67 of file JointTrajectoryFollower.h.
Member Function Documentation
| virtual double PreplannedJointTrajectoryFollower::getDuration | ( | ) | const [inline, virtual] |
Implements JointTrajectoryFollower.
Definition at line 71 of file JointTrajectoryFollower.h.
| virtual const std::vector<std::string>& PreplannedJointTrajectoryFollower::getJointNames | ( | ) | const [inline, virtual] |
Implements JointTrajectoryFollower.
Definition at line 69 of file JointTrajectoryFollower.h.
| void PreplannedJointTrajectoryFollower::getNextPoint | ( | sensor_msgs::JointState & | nextPoint, |
| ros::Duration & | timeFromStart | ||
| ) | [virtual] |
get next point
Get the next point in the trajectory for the preplanned joint.
- Parameters:
-
nextPoint joint state of next point, returned timeFromStart time from start of next point, returned
- Returns:
- void
- Parameters:
-
nextPoint Next joint state timeFromStart Time from the start of beginning of trajectory
- Exceptions:
-
runtime_error If trajectory is inactive, or if trajectory names, positions, velocities, accelerations are not properly sized
Implements JointTrajectoryFollower.
Definition at line 101 of file JointTrajectoryFollower.cpp.
| void PreplannedJointTrajectoryFollower::setTrajectory | ( | const trajectory_msgs::JointTrajectory & | trajectoryIn, |
| double | timestep_in = 0.03333, |
||
| double | velocityFactorIn = 1. |
||
| ) |
set trajectory
Set trajectory and velocity to new values and prepare preplanned joint for new trajectory.
- Parameters:
-
trajectory_in new trajectory
- Returns:
- void
if there is an existing trajectory, it is preempted
- Parameters:
-
trajectoryIn New trajectory value for joint velocityFactorIn New velocity factor value for joint
- Exceptions:
-
runtime_error If Joint is already following a trajectory
Definition at line 53 of file JointTrajectoryFollower.cpp.
Member Data Documentation
double PreplannedJointTrajectoryFollower::currentTrajCount [private] |
Definition at line 92 of file JointTrajectoryFollower.h.
double PreplannedJointTrajectoryFollower::timestep [private] |
Definition at line 93 of file JointTrajectoryFollower.h.
Definition at line 90 of file JointTrajectoryFollower.h.
trajectory_msgs::JointTrajectory::_points_type::const_iterator PreplannedJointTrajectoryFollower::trajIt [private] |
Definition at line 91 of file JointTrajectoryFollower.h.
The documentation for this class was generated from the following files: