trajectory_stats.h

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/* \author: Ken Anderson */

#ifndef TRAJECTORY_STATS_H
#define TRAJECTORY_STATS_H

#include <trajectory_msgs/JointTrajectory.h>

namespace trajectory_execution_monitor
{

class TrajectoryStats
{
public:

  static ros::Duration getDuration(const trajectory_msgs::JointTrajectory& trajectory);

  static double getAngularDistance(const trajectory_msgs::JointTrajectory& trajectory, unsigned int startIndex=0);

  static double getMaxAngularVelocity(const trajectory_msgs::JointTrajectory& trajectory, unsigned int startIndex=0);

  static double distance(const trajectory_msgs::JointTrajectoryPoint& point, const trajectory_msgs::JointTrajectoryPoint& point2, const std::vector<std::string> joint_names=std::vector<std::string>() );

};

};

#endif // TRAJECTORY_STATS_H