utils.cpp File Reference

#include "utils.h"
#include "definitions.h"
#include "ros/ros.h"
#include "urdf/model.h"

Include dependency graph for utils.cpp:

Namespaces
namespace	motoman
namespace	motoman::utils
Functions
bool	motoman::utils::checkJointNames (trajectory_msgs::JointTrajectoryConstPtr trajectory)
	Checks that the joint names match the assumptions made by the motoman controller interface.
bool	motoman::utils::checkTrajectory (trajectory_msgs::JointTrajectoryConstPtr trajectory)
	Checks that the trajectory meets the assumptions and requirements of the motoman controller interface.
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.
bool	motoman::utils::hasSuffix (string &str, string &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.

Namespaces