Provides a class for breadcrumbing an online trajectory. More...
#include <JointTrajectoryFollower.h>
Public Member Functions | |
virtual double | getDuration () const |
virtual const std::vector < std::string > & | getJointNames () const |
virtual void | getNextPoint (sensor_msgs::JointState &nextPoint, ros::Duration &timeFromStart) |
get next point | |
OnlineJointTrajectoryFollower () | |
void | setTrajectory (boost::shared_ptr< RosMsgJointTrajectory > trajectory_in, double timestep_in, double velocityFactor_in=1.) |
set trajectory | |
virtual | ~OnlineJointTrajectoryFollower () |
Private Attributes | |
double | time |
double | timestep |
boost::shared_ptr < RosMsgJointTrajectory > | trajectory |
Provides a class for breadcrumbing an online trajectory.
Definition at line 100 of file JointTrajectoryFollower.h.
Definition at line 202 of file JointTrajectoryFollower.cpp.
virtual OnlineJointTrajectoryFollower::~OnlineJointTrajectoryFollower | ( | ) | [inline, virtual] |
Definition at line 104 of file JointTrajectoryFollower.h.
virtual double OnlineJointTrajectoryFollower::getDuration | ( | ) | const [inline, virtual] |
Implements JointTrajectoryFollower.
Definition at line 108 of file JointTrajectoryFollower.h.
virtual const std::vector<std::string>& OnlineJointTrajectoryFollower::getJointNames | ( | ) | const [inline, virtual] |
Implements JointTrajectoryFollower.
Definition at line 106 of file JointTrajectoryFollower.h.
void OnlineJointTrajectoryFollower::getNextPoint | ( | sensor_msgs::JointState & | nextPoint, |
ros::Duration & | timeFromStart | ||
) | [virtual] |
get next point
Get the next point in the trajectory for the online joint.
nextPoint | joint state of next point, returned |
timeFromStart | time from start of next point, returned |
nextPoint | Next joint state |
timeFromStart | Time from the start of beginning of trajectory |
runtime_error | If trajectory is inactive |
Implements JointTrajectoryFollower.
Definition at line 244 of file JointTrajectoryFollower.cpp.
void OnlineJointTrajectoryFollower::setTrajectory | ( | boost::shared_ptr< RosMsgJointTrajectory > | trajectoryIn, |
double | timestep_in, | ||
double | velocityFactorIn = 1. |
||
) |
set trajectory
Set trajectory, velocity factor, and time step increments for an online joint.
trajectory_in | new trajectory |
if there is an existing trajectory, it is preempted
trajectoryIn | |
timestep_in | |
velocityFactorIn |
runtime_error | If joint is currently following a trajectory |
Definition at line 215 of file JointTrajectoryFollower.cpp.
double OnlineJointTrajectoryFollower::time [private] |
Definition at line 128 of file JointTrajectoryFollower.h.
double OnlineJointTrajectoryFollower::timestep [private] |
Definition at line 128 of file JointTrajectoryFollower.h.
boost::shared_ptr<RosMsgJointTrajectory> OnlineJointTrajectoryFollower::trajectory [private] |
Definition at line 127 of file JointTrajectoryFollower.h.