We use a simple Cartesian trajectory msg internally at USC. The one
additional thing we have is accelerations at each
CartesianTrajectoryPoint. This allows us to use quintic splines in
cartesian space, for continuous accelerations between segments
(similar to the JointTrajectory msg).

- Mrinal

On Wed, Jun 5, 2013 at 3:53 AM, Jonathan Bohren
<jonathan.bohren@gmail.com> wrote:
>
> On Tue, Jun 4, 2013 at 9:09 PM, Edwards, Shaun M. <sedwards@swri.org> wrote:
>>
>> Are you aware if anybody is currently using a cartesian trajectory (this
>> definition or any other)?
>
>
> There's an old repository of Stu's here:
> https://bitbucket.org/sglaser/pr2_controllers_exp/src/02aa61c12b4b/jt_traj_controller_msgs/msg
>
> I think at one point there was something similar in ros_control or moveit,
> too. I put together a minimal cartesian trajectory message which was just an
> array of Poses and Twists with associated durations, but I think it should
> have some of the features that the aforementioned review describes. Other
> than that I don't know.
>
> --
> Jonathan Bohren
> Laboratory for Computational Sensing and Robotics
> http://dscl.lcsr.jhu.edu/People/JonathanBohren
>
>
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