ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Identifying valid fields in JointTrajectoryPoint message

asked 2016-01-18 13:46:56 -0600

cdsteinkuehler gravatar image

When interpreting the JointTrajectoryPoint[] array provided by a JointTrajectory message, what mechanism is used to determine if optional fields (like velocities and accelerations) are valid and should be used when interpolating the path or are invalid and should be ignored?

Is it required that any unused fields are set to zero?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-01-22 09:17:04 -0600

The JointTrajectoryPoint contains individual arrays for position, velocity, accelerations, and effort. Array types under CPP are vector types (see here). If any of these arrays are empty (i.e. vector.empty()), then they can be considered invalid.

edit flag offensive delete link more


Thanks! I missed the fact the variable length message arrays include a length prefix.

cdsteinkuehler gravatar image cdsteinkuehler  ( 2016-01-22 09:33:01 -0600 )edit

Question Tools

1 follower


Asked: 2016-01-18 13:46:56 -0600

Seen: 193 times

Last updated: Jan 22 '16