public virtual void CommandTrajectory(IPose targetPose) { MultiDOFJointTrajectory msg = new MultiDOFJointTrajectory(); msg.joint_names = new[] { "base_link" }; msg.points = new[] { new MultiDOFJointTrajectoryPoint() { transforms = new[] { targetPose.ToTransform() } } }; CommandTrajectory(msg); }
public RobotTrajectory(JointTrajectory joint_trajectory, MultiDOFJointTrajectory multi_dof_joint_trajectory) { this.joint_trajectory = joint_trajectory; this.multi_dof_joint_trajectory = multi_dof_joint_trajectory; }
public RobotTrajectory() { this.joint_trajectory = new JointTrajectory(); this.multi_dof_joint_trajectory = new MultiDOFJointTrajectory(); }