public override bool UpdateDesiredPosition(ref JointTrajectoryPositionRequest request)
{
if (request.desired_time != null)
{
throw new InvalidOperationException("desired_time not supported");
}
exec = TrapezoidalJointTrajectoryGeneraterCalc.InitializePosExec(_joint_count, _limits, request);
return(true);
}
public override bool UpdateDesiredVelocity(ref JointTrajectoryVelocityRequest request)
{
exec = TrapezoidalJointTrajectoryGeneraterCalc.InitializeVelExec(_joint_count, _limits, request);
return(true);
}