api_documentation: http://ros.org/doc/fuerte/api/katana_trajectory_filter/html
authors: "Martin G\xFCnther"
brief: Filters a trajectory to have at most 16 segments
bugtracker: ''
depends:
- trajectory_msgs
- spline_smoother
- roscpp
- filters
- arm_navigation_msgs
depends_on:
- katana_tutorials
- kurtana_arm_navigation
- katana_arm_navigation
description: "\n\n     <p>\n     This filter removes the smallest segments from a\
  \ trajectory until at most\n     MAX_NUM_POINTS (currently 16) are left. The reason\
  \ for doing this is that\n     the Katana arm only supports trajectories with at\
  \ most MAX_NUM_POINTS.\n     </p>\n\n     <p>\n     All desired velocities and accelerations\
  \ are removed from the trajectory.\n     This works if this filter is used in conjunction\
  \ with the\n     JointTrajectoryActionController from the <a href=\"/wiki/katana\"\
  >katana</a>\n     package, because it recomputes splines for velocities and accelerations\n\
  \     anyway. It would not work with PR2's JointTrajectoryActionController,\n  \
  \   which only computes linear segments if the velocities are missing.\n     </p>\n\
  \n     <p>\n     Also, this filter does not check if the resulting trajectory is\
  \ collision-free,\n     although it should.\n     </p>\n\n  "
doc_job: doc-fuerte-uos
license: GPL
maintainers: ''
metapackages:
- katana_driver
msgs: []
package_type: package
repo_name: katana_driver
repo_url: ''
srvs: []
timestamp: 1369752958.583465
url: http://ros.org/wiki/katana_trajectory_filter
vcs: git
vcs_uri: https://github.com/uos/katana_driver.git
vcs_version: fuerte
