int CSnapshot::GetItemSize(int Index)
{
if(Index == m_NumItems-1)
return (m_DataSize - Offsets()[Index]) - sizeof(CSnapshotItem);
return (Offsets()[Index+1] - Offsets()[Index]) - sizeof(CSnapshotItem);
}
CSnapshotItem *CSnapshot::GetItem(int Index)
{
return (CSnapshotItem *)(DataStart() + Offsets()[Index]);
}
/*!
* \brief Gets parameters from the robot_description and configures the powercube_chain.
*/
void getRobotDescriptionParameters()
{
unsigned int DOF = pc_params_->GetDOF();
std::vector<std::string> JointNames = pc_params_->GetJointNames();
// get robot_description from ROS parameter server
std::string param_name = "robot_description";
std::string full_param_name;
std::string xml_string;
n_.searchParam(param_name, full_param_name);
if (n_.hasParam(full_param_name))
{
n_.getParam(full_param_name.c_str(), xml_string);
}
else
{
ROS_ERROR("Parameter %s not set, shutting down node...", full_param_name.c_str());
n_.shutdown();
}
if (xml_string.size() == 0)
{
ROS_ERROR("Unable to load robot model from parameter %s",full_param_name.c_str());
n_.shutdown();
}
ROS_DEBUG("%s content\n%s", full_param_name.c_str(), xml_string.c_str());
// get urdf model out of robot_description
urdf::Model model;
if (!model.initString(xml_string))
{
ROS_ERROR("Failed to parse urdf file");
n_.shutdown();
}
ROS_DEBUG("Successfully parsed urdf file");
// get max velocities out of urdf model
std::vector<double> MaxVelocities(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
MaxVelocities[i] = model.getJoint(JointNames[i].c_str())->limits->velocity;
}
// get lower limits out of urdf model
std::vector<double> LowerLimits(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
LowerLimits[i] = model.getJoint(JointNames[i].c_str())->limits->lower;
}
// get upper limits out of urdf model
std::vector<double> UpperLimits(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
UpperLimits[i] = model.getJoint(JointNames[i].c_str())->limits->upper;
}
// get offsets out of urdf model
std::vector<double> Offsets(DOF);
for (unsigned int i = 0; i < DOF; i++)
{
Offsets[i] = model.getJoint(JointNames[i].c_str())->calibration->rising.get()[0];
}
// set parameters
pc_params_->SetMaxVel(MaxVelocities);
pc_params_->SetLowerLimits(LowerLimits);
pc_params_->SetUpperLimits(UpperLimits);
pc_params_->SetOffsets(Offsets);
}
