22 #include <std_msgs/Float64MultiArray.h> 49 double a = 0.6, b = 0.4, c = 0,
d = 0;
51 std_msgs::Float64MultiArray command_msg;
52 command_msg.data.assign(
dof_, 0.0);
57 x = (time - start_time).toSec();
59 double vel = a*
sin(b*x+c) +
d;
61 command_msg.data[
idx_] = vel;
79 int main(
int argc,
char **argv)
81 ros::init(argc, argv,
"test_forward_command_execution_node");
int main(int argc, char **argv)
ros::Publisher output_pub_
void publish(const boost::shared_ptr< M > &message) const
~ForwardCommandExecutionTester()
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL void spin(Spinner &spinner)
TFSIMD_FORCE_INLINE const tfScalar & x() const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ForwardCommandExecutionTester()
ROSCPP_DECL void spinOnce()
INLINE Rall1d< T, V, S > sin(const Rall1d< T, V, S > &arg)