def from_msg(cls, msg):
joint_trajectory = JointTrajectory.from_msg(msg['joint_trajectory'])
multi_dof_joint_trajectory = MultiDOFJointTrajectory.from_msg(
msg['multi_dof_joint_trajectory'])
return cls(joint_trajectory, multi_dof_joint_trajectory)
def __init__(self,
joint_trajectory=JointTrajectory(),
multi_dof_joint_trajectory=MultiDOFJointTrajectory()):
self.joint_trajectory = joint_trajectory
self.multi_dof_joint_trajectory = multi_dof_joint_trajectory