katana_trajectory_filter Documentation

katana_trajectory_filter: Filters a trajectory to have at most 16 segments

This filter removes the smallest segments from a trajectory until at most MAX_NUM_POINTS (currently 16) are left. The reason for doing this is that the Katana arm only supports trajectories with at most MAX_NUM_POINTS.

All desired velocities and accelerations are removed from the trajectory. This works if this filter is used in conjunction with the JointTrajectoryActionController from the katana package, because it recomputes splines for velocities and accelerations anyway. It would not work with PR2's JointTrajectoryActionController, which only computes linear segments if the velocities are missing.

Also, this filter does not check if the resulting trajectory is collision-free, although it should.

• Homepage: http://wiki.ros.org/katana_trajectory_filter

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