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();
}
