motoman::utils Namespace Reference

Functions
bool	checkJointNames (trajectory_msgs::JointTrajectoryConstPtr trajectory)
	Checks that the joint names match the assumptions made by the motoman controller interface.
bool	checkTrajectory (trajectory_msgs::JointTrajectoryConstPtr trajectory)
	Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.
bool	getVelocityLimits (std::string param_name, trajectory_msgs::JointTrajectoryConstPtr trajectory, std::vector< double > &joint_velocity_limits)
	Queries the URDF parameter server to determine what the velocity limits are for the joint names that are pased in. The order of the velocity limits returned (by reference) matches the joint name order. NOTE: This process is an expensive one. The results of this call should be cached for future needs.
bool	hasSuffix (string &str, string &suffix)
bool	hasSuffix (std::string &str, std::string &suffix)
	Checks a string a the suffix.
double	toMotomanVelocity (std::vector< double > &joint_velocity_limits, std::vector< double > &joint_velocities)
	Converts the ROS trajectory velocity (individual joint velocities to the combined motoman velocity which is highest joint velocity required as a fraction of the joint velocity limit.

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Function Documentation

bool motoman::utils::checkJointNames

(

trajectory_msgs::JointTrajectoryConstPtr

trajectory

)

Checks that the joint names match the assumptions made by the motoman controller interface.

Parameters:

trajectory

with joint names to check

Returns:

True if joint names and order match the expected motoman order

Definition at line 57 of file utils.cpp.

bool motoman::utils::checkTrajectory

(

trajectory_msgs::JointTrajectoryConstPtr

trajectory

)

Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.

Parameters:

trajectory

to check

Returns:

True if trajectory is valid and meets requirements

Definition at line 45 of file utils.cpp.

bool motoman::utils::getVelocityLimits	(	std::string	param_name,
		trajectory_msgs::JointTrajectoryConstPtr	trajectory,
		std::vector< double > &	joint_velocity_limits
	)

Queries the URDF parameter server to determine what the velocity limits are for the joint names that are pased in. The order of the velocity limits returned (by reference) matches the joint name order. NOTE: This process is an expensive one. The results of this call should be cached for future needs.

Parameters:

	parameter	name to query (typically )
	trajectory	with joint names to query
	joint	velocity limits returned by URDQ query

Returns:

True if all velocities were found

Definition at line 125 of file utils.cpp.

bool motoman::utils::hasSuffix	(	string &	str,
		string &	suffix
	)

Definition at line 96 of file utils.cpp.

bool motoman::utils::hasSuffix	(	std::string &	str,
		std::string &	suffix
	)

Checks a string a the suffix.

Parameters:

	string	to check
	suffix	to check for

Returns:

True if str has the suffix

double motoman::utils::toMotomanVelocity	(	std::vector< double > &	joint_velocity_limits,
		std::vector< double > &	joint_velocities
	)

Converts the ROS trajectory velocity (individual joint velocities to the combined motoman velocity which is highest joint velocity required as a fraction of the joint velocity limit.

Parameters:

	joint	velocity limits (order should match joint velocities)
	joint	velocities (order should match limits)

Returns:

Combined velocity

Definition at line 172 of file utils.cpp.