play_motion_helpers.h
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00001 /*
00002  * Software License Agreement (Modified BSD License)
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00034 
00040 #ifndef PLAYMOTIONHELPERS_H
00041 #define PLAYMOTIONHELPERS_H
00042 
00043 #include <string>
00044 #include "play_motion/datatypes.h"
00045 
00046 namespace ros
00047 {
00048   class NodeHandle;
00049 }
00050 
00051 namespace play_motion
00052 {
00053 
00054   struct MotionInfo
00055   {
00056     std::string id;
00057     std::string name;
00058     std::string usage;
00059     std::string description;
00060     JointNames joints;
00061     Trajectory traj;
00062   };
00063 
00069   void getMotionJoints(const ros::NodeHandle &nh, const std::string& motion_id,
00070                        JointNames& motion_joints);
00071   void getMotionJoints(const std::string& motion_id, JointNames& motion_joints);
00072 
00073 
00079   void getMotionPoints(const ros::NodeHandle &nh, const std::string& motion_id,
00080                        Trajectory& motion_points);
00081   void getMotionPoints(const std::string& motion_id, Trajectory& motion_points);
00082 
00083 
00088   ros::Duration getMotionDuration(const ros::NodeHandle &nh,
00089                                   const std::string &motion_id);
00090 
00097   void getMotionIds(const ros::NodeHandle &nh, MotionNames& motion_ids);
00098   void getMotionIds(MotionNames& motion_ids);
00099 
00106   bool motionExists(const ros::NodeHandle &nh, const std::string &motion_id);
00107   bool motionExists(const std::string &motion_id);
00108 
00115   bool isAlreadyThere(const JointNames &target_joints, const TrajPoint &target_point,
00116                       const JointNames &source_joints, const TrajPoint &source_point,
00117                       double tolerance = 0.15);
00118 
00142   void populateVelocities(const TrajPoint& point_prev,
00143                           const TrajPoint& point_next,
00144                                 TrajPoint& point_curr);
00145 
00159   void populateVelocities(const Trajectory& traj_in, Trajectory& traj_out);
00160 
00169   void getMotion(const ros::NodeHandle &nh, const std::string &motion_id,
00170                  MotionInfo &motion_info);
00171   void getMotion(const std::string &motion_id, MotionInfo &motion_info);
00172 }
00173 
00174 #endif


play_motion
Author(s): Paul Mathieu , Adolfo Rodriguez Tsouroukdissian
autogenerated on Sat Jun 8 2019 20:26:22