Only released in EOL distros:
Package Summary
joint_spline_trajectory_generator
- Author: Konrad Banachowicz
- License: BSD
- Source: git https://github.com/RCPRG-ros-pkg/orocos_controllers.git (branch: electric)
Package Summary
joint_spline_trajectory_generator
- Author: Konrad Banachowicz
- License: BSD
- Source: git https://github.com/RCPRG-ros-pkg/orocos_controllers.git (branch: electric)
Contents
Overview
This component is doing interpolation between two sequential points specified by trajectory_msgs/JointTrajectoryPoint message. It output oro_servo_msgs/Setpoints message containing position, velocity and acceleration for current interpolation point.
Interpolation type depend on which data was supplied by trajectory_msgs/JointTrajectoryPoint message:
position and time - linear interpolation.
position, velocity and time - cubic spline interpolation.
position, velocity, acceleration and time - quintic spline interpolation.
OROCOS API
Input ports
trajectory_point (trajectory_msgs/JointTrajectoryPoint)
- Next point for interpolation.
- Desired position of joint.
Output ports
dsrJntPos (vector<double>)
- New setpoint for servo.
- Indicate that component is ready to receive next interpolation point.
Properties
number_of_joints (int)
- Number of joints used in interpolation.
