#include <RosMsgTrajectoryFactory.h>
Public Member Functions | |
| void | getSettings (r2_msgs::ControllerJointSettings &settings) |
| virtual boost::shared_ptr < RosMsgJointTrajectory > | getTrajectory (const sensor_msgs::JointState &jointPositions, const sensor_msgs::JointState &jointVels, const sensor_msgs::JointState &prevJointVels, const trajectory_msgs::JointTrajectory &goalTraj) |
| getTrajectory produces a trajectory object from the inputs | |
| RosMsgJointTrajectoryFactory () | |
| void | setFactory (boost::shared_ptr< JointTrajectoryFactory<> > factory_in) |
| void | setLimits (const std::vector< std::string > &jointNames, double velLim, double accLim) |
| void | setPositionLimiter (boost::shared_ptr< JointNamePositionLimiter > posLimiter) |
| void | setSettings (const r2_msgs::ControllerJointSettings &settings) |
| virtual | ~RosMsgJointTrajectoryFactory () |
Protected Types | |
| typedef JointTrajectorySequenceFactory | sequenceFactoryType |
Protected Attributes | |
| boost::shared_ptr < JointTrajectoryFactory<> > | factory |
| JointNameMotionLimiter | motionLimiter |
| boost::shared_ptr < JointNamePositionLimiter > | positionLimiter |
| sequenceFactoryType | sequenceFactory |
Definition at line 26 of file RosMsgTrajectoryFactory.h.
typedef JointTrajectorySequenceFactory RosMsgJointTrajectoryFactory::sequenceFactoryType [protected] |
Definition at line 57 of file RosMsgTrajectoryFactory.h.
Definition at line 29 of file RosMsgTrajectoryFactory.h.
| virtual RosMsgJointTrajectoryFactory::~RosMsgJointTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 30 of file RosMsgTrajectoryFactory.h.
| void RosMsgJointTrajectoryFactory::getSettings | ( | r2_msgs::ControllerJointSettings & | settings | ) |
Definition at line 10 of file RosMsgTrajectoryFactory.cpp.
| boost::shared_ptr< RosMsgJointTrajectory > RosMsgJointTrajectoryFactory::getTrajectory | ( | const sensor_msgs::JointState & | jointPositions, |
| const sensor_msgs::JointState & | jointVels, | ||
| const sensor_msgs::JointState & | prevJointVels, | ||
| const trajectory_msgs::JointTrajectory & | goalTraj | ||
| ) | [virtual] |
getTrajectory produces a trajectory object from the inputs
| jointPositions | start joint positions |
| jointVels | start joint velocities |
| prevJointVels | previous joint velocities (joint states only hold pos & vel so the prev is used to derive acc) |
| goalTraj | goal joint positions |
if position limited, set vel and acc to 0
also set acceleration limit higher if needed
Definition at line 25 of file RosMsgTrajectoryFactory.cpp.
| void RosMsgJointTrajectoryFactory::setFactory | ( | boost::shared_ptr< JointTrajectoryFactory<> > | factory_in | ) | [inline] |
Definition at line 32 of file RosMsgTrajectoryFactory.h.
| void RosMsgJointTrajectoryFactory::setLimits | ( | const std::vector< std::string > & | jointNames, |
| double | velLim, | ||
| double | accLim | ||
| ) |
Definition at line 15 of file RosMsgTrajectoryFactory.cpp.
| void RosMsgJointTrajectoryFactory::setPositionLimiter | ( | boost::shared_ptr< JointNamePositionLimiter > | posLimiter | ) |
Definition at line 20 of file RosMsgTrajectoryFactory.cpp.
| void RosMsgJointTrajectoryFactory::setSettings | ( | const r2_msgs::ControllerJointSettings & | settings | ) |
Definition at line 5 of file RosMsgTrajectoryFactory.cpp.
boost::shared_ptr<JointTrajectoryFactory<> > RosMsgJointTrajectoryFactory::factory [protected] |
Definition at line 59 of file RosMsgTrajectoryFactory.h.
Definition at line 60 of file RosMsgTrajectoryFactory.h.
boost::shared_ptr<JointNamePositionLimiter> RosMsgJointTrajectoryFactory::positionLimiter [protected] |
Definition at line 61 of file RosMsgTrajectoryFactory.h.
Definition at line 58 of file RosMsgTrajectoryFactory.h.