Function joint_trajectory_controller::check_state_tolerance_per_joint

Function Documentation

inline bool joint_trajectory_controller::check_state_tolerance_per_joint(const trajectory_msgs::msg::JointTrajectoryPoint &state_error, size_t joint_idx, const StateTolerances &state_tolerance, bool show_errors = false)
Parameters:

  • state_error – State error to check.

  • joint_idx – Joint index for the state error

  • state_tolerance – State tolerance of joint to check state_error against.

  • show_errors – If the joint that violate its tolerance should be output to console. NOT REALTIME if true

Returns:

True if state_error fulfills state_tolerance.