#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of the Willow Garage nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author Melonee Wise

import roslib; roslib.load_manifest('joint_trajectory_action_tools')
import rospy

from pr2_controllers_msgs.msg import *
from trajectory_msgs.msg import JointTrajectoryPoint

def get_action_goal(ns):
  joint_space_goal = JointTrajectoryGoal()
  joint_names = rospy.get_param(ns +"/joint_names")
  joint_space_goal.trajectory.joint_names = joint_names
  waypoints = rospy.get_param(ns +"/waypoints")
  for waypoint in waypoints:
    joint_space_goal.trajectory.points.append(JointTrajectoryPoint(positions = waypoint[0], velocities = waypoint[1], accelerations = waypoint[2], time_from_start = rospy.Duration(waypoint[3])))

  return joint_space_goal
    


8e0735f66389c19b794b6a1e50fd37f83e2bfefe
<mask token>

<mask token>


def get_action_goal(ns):
    joint_space_goal = JointTrajectoryGoal()
    joint_names = rospy.get_param(ns + '/joint_names')
    joint_space_goal.trajectory.joint_names = joint_names
    waypoints = rospy.get_param(ns + '/waypoints')
    for waypoint in waypoints:
        joint_space_goal.trajectory.points.append(JointTrajectoryPoint(
            positions=waypoint[0], velocities=waypoint[1], accelerations=
            waypoint[2], time_from_start=rospy.Duration(waypoint[3])))
    return joint_space_goal

<mask token>
roslib.load_manifest('joint_trajectory_action_tools')
<mask token>


def get_action_goal(ns):
    joint_space_goal = JointTrajectoryGoal()
    joint_names = rospy.get_param(ns + '/joint_names')
    joint_space_goal.trajectory.joint_names = joint_names
    waypoints = rospy.get_param(ns + '/waypoints')
    for waypoint in waypoints:
        joint_space_goal.trajectory.points.append(JointTrajectoryPoint(
            positions=waypoint[0], velocities=waypoint[1], accelerations=
            waypoint[2], time_from_start=rospy.Duration(waypoint[3])))
    return joint_space_goal

import roslib
roslib.load_manifest('joint_trajectory_action_tools')
import rospy
from pr2_controllers_msgs.msg import *
from trajectory_msgs.msg import JointTrajectoryPoint


def get_action_goal(ns):
    joint_space_goal = JointTrajectoryGoal()
    joint_names = rospy.get_param(ns + '/joint_names')
    joint_space_goal.trajectory.joint_names = joint_names
    waypoints = rospy.get_param(ns + '/waypoints')
    for waypoint in waypoints:
        joint_space_goal.trajectory.points.append(JointTrajectoryPoint(
            positions=waypoint[0], velocities=waypoint[1], accelerations=
            waypoint[2], time_from_start=rospy.Duration(waypoint[3])))
    return joint_space_goal

#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of the Willow Garage nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author Melonee Wise

import roslib; roslib.load_manifest('joint_trajectory_action_tools')
import rospy

from pr2_controllers_msgs.msg import *
from trajectory_msgs.msg import JointTrajectoryPoint

def get_action_goal(ns):
  joint_space_goal = JointTrajectoryGoal()
  joint_names = rospy.get_param(ns +"/joint_names")
  joint_space_goal.trajectory.joint_names = joint_names
  waypoints = rospy.get_param(ns +"/waypoints")
  for waypoint in waypoints:
    joint_space_goal.trajectory.points.append(JointTrajectoryPoint(positions = waypoint[0], velocities = waypoint[1], accelerations = waypoint[2], time_from_start = rospy.Duration(waypoint[3])))

  return joint_space_goal
    

