joint_trajectory_file_playback.py 文件源码

def _add_point(self, positions, side, time):
        """
        Appends trajectory with new point

        @param positions: joint positions
        @param side: limb to command point
        @param time: time from start for point in seconds
        """
        #creates a point in trajectory with time_from_start and positions
        point = JointTrajectoryPoint()
        point.positions = copy(positions)
        point.time_from_start = rospy.Duration(time)
        if side == 'left':
            self._l_goal.trajectory.points.append(point)
        elif side == 'right':
            self._r_goal.trajectory.points.append(point)
        elif side == 'left_gripper':
            self._l_grip.trajectory.points.append(point)
        elif side == 'right_gripper':
            self._r_grip.trajectory.points.append(point)