[Rock-dev] JointsTrajectory

[Sankaranarayanan Natarajan]

Hi Jakob,

I prefer the JointTrajectory in the "trajectory2" branch..

Regards
-Sankar

On 09/09/2013 09:14 AM, Jakob Schwendner wrote:
> Hi,
>  
> Malte added a type for trajectory of joints and rigid body states to a
> trajectory branch in base/types (thanks Malte).
> I think the trajectory of RigidBodyStates may need a bit more
> discussion. I did some additions to the JointsSampledTrajectory type,
> and also renamed it to JointsTrajectory. My changes are in trajectory2
> branch. This is more similar to what Malte originally proposed. My
> suggestion of using a vector of JointSamples has the problem that the
> samples can be irregular on all joints. I think this makes things more
> complicated. Also, I noticed most trajectories won't actually have
> timing associated.
>  
> Let me know what you think of the type. I would like to add it to the
> master branch today. I also started on a component for
> trajectory_generation based on reflexxes. The library is already
> integrated into rock.
>  
> cheers,
>  
> Jakob
>  


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