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<div class="moz-cite-prefix">Hi Jakob,<br>
<br>
I prefer the JointTrajectory in the "trajectory2" branch.. <br>
<br>
Regards<br>
-Sankar<br>
<br>
On 09/09/2013 09:14 AM, Jakob Schwendner wrote:<br>
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<div> Hi, </div>
<div> </div>
<div> Malte added a type for trajectory of joints and rigid body
states to a trajectory branch in base/types (thanks Malte). </div>
<div> 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. </div>
<div> </div>
<div> 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. </div>
<div> </div>
<div> cheers, </div>
<div> </div>
<div> Jakob </div>
<div> </div>
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