trajectory_stats.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  *
00035  *********************************************************************/
00036 
00037 /* \author: Ken Anderson */
00038 
00039 #ifndef TRAJECTORY_STATS_H
00040 #define TRAJECTORY_STATS_H
00041 
00042 #include <trajectory_msgs/JointTrajectory.h>
00043 
00044 namespace trajectory_execution_monitor
00045 {
00046 
00052 class TrajectoryStats
00053 {
00054 public:
00055 
00058   static ros::Duration getDuration(const trajectory_msgs::JointTrajectory& trajectory);
00059 
00063   static double getAngularDistance(const trajectory_msgs::JointTrajectory& trajectory, unsigned int startIndex=0);
00064 
00068   static double getMaxAngularVelocity(const trajectory_msgs::JointTrajectory& trajectory, unsigned int startIndex=0);
00069 
00072   static double distance(const trajectory_msgs::JointTrajectoryPoint& point, const trajectory_msgs::JointTrajectoryPoint& point2, const std::vector<std::string> joint_names=std::vector<std::string>() );
00073 
00074 };
00075 
00076 };
00077 
00078 #endif // TRAJECTORY_STATS_H


trajectory_execution_monitor
Author(s): Gil Jones
autogenerated on Thu Dec 12 2013 11:08:01