parameters: (self,joint_trajectory_sub_topic,joint_state_pub_topic,link_list)
return_statement: return
docstring: Sets the controller to subscribe to JointTrajectory messages from
          joint_trajectory_sub_topic, and publishes JointState messages from
          joint_state_pub_topic.  The link_list argument is the ordered list
          of link names in the Klamp't robot model.
docstring_summary: Sets the controller to subscribe to JointTrajectory messages from
          joint_trajectory_sub_topic, and publishes JointState messages from
          joint_state_pub_topic.  The link_list argument is the ordered list
          of link names in the Klamp't robot model.
docstring_tokens: Sets the controller to subscribe to JointTrajectory messages from joint_trajectory_sub_topic and publishes JointState messages from joint_state_pub_topic . The link_list argument is the ordered list of link names in the Klamp t robot model .
function: def __init__(self,joint_trajectory_sub_topic,joint_state_pub_topic,link_list):
          """Sets the controller to subscribe to JointTrajectory messages from
          joint_trajectory_sub_topic, and publishes JointState messages from
          joint_state_pub_topic.  The link_list argument is the ordered list
          of link names in the Klamp't robot model."""
          self.state = JointState()
          n = len(link_list)
          self.state.header.seq = 0
          self.state.name = link_list[:]
          self.state.position     = []
          self.state.velocity     = []
          self.state.effort       = []
  
          # fast indexing structure for partial commands
          self.nameToIndex = dict(zip(self.state.name,range(n)))
  
          # Setup publisher of robot states
          self.pub = rospy.Publisher(joint_state_pub_topic, JointState)
          
          # set up the command subscriber
          self.jointTrajectoryRosMsgQueue = []
          rospy.Subscriber(joint_trajectory_sub_topic, JointTrajectory,self.jointTrajectoryCallback)
  
          # these are parsed in from the trajectory message
          self.currentTrajectoryStart = 0
          self.currentTrajectoryNames = []
          self.currentPhaseTrajectory = None
          self.currentPositionTrajectory = None
          self.currentVelocityTrajectory = None
          self.currentEffortTrajectory = None
          return
function_tokens: def __init__ ( self , joint_trajectory_sub_topic , joint_state_pub_topic , link_list ) : self . state = JointState ( ) n = len ( link_list ) self . state . header . seq = 0 self . state . name = link_list [ : ] self . state . position = [ ] self . state . velocity = [ ] self . state . effort = [ ] # fast indexing structure for partial commands self . nameToIndex = dict ( zip ( self . state . name , range ( n ) ) ) # Setup publisher of robot states self . pub = rospy . Publisher ( joint_state_pub_topic , JointState ) # set up the command subscriber self . jointTrajectoryRosMsgQueue = [ ] rospy . Subscriber ( joint_trajectory_sub_topic , JointTrajectory , self . jointTrajectoryCallback ) # these are parsed in from the trajectory message self . currentTrajectoryStart = 0 self . currentTrajectoryNames = [ ] self . currentPhaseTrajectory = None self . currentPositionTrajectory = None self . currentVelocityTrajectory = None self . currentEffortTrajectory = None return