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 | 1 | initial version |
Does it mean that the JointTrajectoryPoint should already be done executing when the time_from_start value is reached? Or does it mean that the JointTrajectoryPoint should start executing once the time_from_start value is reached?
A JointTrajectoryPoint encodes the state of the system at the delta-t from the start of the execution of the JointTrajectory.
Personally, I don't believe it's possible to "execute a JointTrajectoryPoint", as it's a point, but if you're asking whether the manipulator should have traversed the trajectory segment defined by pt_N+1 - pt_N at pt_N+1.time_from_start, then: yes.
In your words:
the JointTrajectoryPoint should already be done executing when the time_from_start value is reached
| | 2 | No.2 Revision |
Does it mean that the JointTrajectoryPoint should already be done executing when the time_from_start value is reached? Or does it mean that the JointTrajectoryPoint should start executing once the time_from_start value is reached?
A JointTrajectoryPoint encodes the state of the system at the delta-t from the start of the execution of the JointTrajectory.
Personally, I don't believe it's possible to "execute a JointTrajectoryPoint", as it's a point, but if you're asking whether the manipulator should have traversed the trajectory segment defined by pt_N+1 pt_(n) - pt_Npt_(n-1)pt_N+1.time_from_startpt_(n).time_from_start
In your words:
the JointTrajectoryPoint should already be done executing when the time_from_start value is reached
| | 3 | No.3 Revision |
Does it mean that the JointTrajectoryPoint should already be done executing when the time_from_start value is reached? Or does it mean that the JointTrajectoryPoint should start executing once the time_from_start value is reached?
A JointTrajectoryPoint encodes the state of the system at the delta-t from the start of the execution of the JointTrajectory.
Personally, I don't believe it's possible to "execute a JointTrajectoryPoint", as it's a point, but if you're asking whether the manipulator should have traversed the trajectory segment defined by pt_(n) - pt_(n-1) at pt_(n).time_from_start, then: yes.
In your words:
the JointTrajectoryPoint should already be done executing when the time_from_start value is reached
Edit: it might help if you see JointTrajectory not as a series of motion commands (which they aren't), but as a data structure describing a spline through the JointTrajectoryPoints.
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