// sets the current joint trajectory to follow
public bool FollowTrajectory(JointTrajectory traj)
{
if (traj.points.Count == 0)
{
return(false);
}
_pointIndex = 0;
_trajectory = traj;
_nextPoint = _trajectory.points[_pointIndex];
_goingToPoint = false;
_finshedTrajectory = false;
return(true);
}
// sets the current joint trajectory to follow
public bool followTrajectory(JointTrajectory traj)
{
if (traj.points.Count == 0)
{
return(false);
}
_traj_index = 0;
_traj = traj;
_next_point = _traj.points[_traj_index];
_going_to_point = false;
_finished_traj = false;
return(true);
}