joint_trajectory_controller Namespace Reference

Classes
class	JointTrajectoryController
struct	SegmentTolerances
	Trajectory segment tolerances. More...
struct	StateTolerances
	Trajectory state tolerances for position, velocity and acceleration variables. More...
class	Trajectory

Typedefs
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
using	TrajectoryPointIter = std::vector< trajectory_msgs::msg::JointTrajectoryPoint >::iterator
using	TrajectoryPointConstIter = std::vector< trajectory_msgs::msg::JointTrajectoryPoint >::const_iterator

Functions
SegmentTolerances	get_segment_tolerances (const rclcpp::Node &node, const std::vector< std::string > &joint_names)
	Populate trajectory segment tolerances using data from the ROS node.
bool	check_state_tolerance_per_joint (const trajectory_msgs::msg::JointTrajectoryPoint &state_error, int joint_idx, const StateTolerances &state_tolerance, bool show_errors=false)
template<class T >
std::vector< size_t >	mapping (const T &t1, const T &t2)

Detailed Description

Author

Adolfo Rodriguez Tsouroukdissian

Function Documentation

check_state_tolerance_per_joint()

bool joint_trajectory_controller::check_state_tolerance_per_joint ( const trajectory_msgs::msg::JointTrajectoryPoint &  state_error, int  joint_idx, const StateTolerances &  state_tolerance, bool  show_errors = false  )

inline

Parameters

state_error	State error to check.
joint_idx	Joint index for the state error
state_tolerance	State tolerance of joint to check state_error against.
show_errors	If the joint that violate its tolerance should be output to console. NOT REALTIME if true

Returns

True if state_error fulfills state_tolerance.

get_segment_tolerances()

SegmentTolerances joint_trajectory_controller::get_segment_tolerances	(	const rclcpp::Node &	node,
		const std::vector< std::string > &	joint_names
	)

Populate trajectory segment tolerances using data from the ROS node.

It is assumed that the following parameter structure is followed on the provided LifecycleNode. Unspecified parameters will take the defaults shown in the comments:

constraints:
 goal_time: 1.0                   # Defaults to zero
 stopped_velocity_tolerance: 0.02 # Defaults to 0.01
 foo_joint:
   trajectory: 0.05               # Defaults to zero (ie. the tolerance is not enforced)
   goal:       0.03               # Defaults to zero (ie. the tolerance is not enforced)
 bar_joint:
   goal: 0.01

Parameters

node	LifecycleNode where the tolerances are specified.
joint_names	Names of joints to look for in the parameter server for a tolerance specification.

Returns

Trajectory segment tolerances.

mapping()

template<class T >

std::vector< size_t > joint_trajectory_controller::mapping ( const T &  t1, const T &  t2  )

inline

Returns

The map between t1 indices (implicitly encoded in return vector indices) to t2 indices. If t1 is "{C, B}" and t2 is "{A, B, C, D}", the associated mapping vector is "{2, 1}".