Function moveit_servo::jointsToHalt
Defined in File common.hpp
Function Documentation
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std::vector<int> moveit_servo::jointsToHalt(const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const moveit::core::JointBoundsVector &joint_bounds, const std::vector<double> &margins)
Finds the joints that are exceeding allowable position limits.
- Parameters:
positions – The joint positions.
velocities – The current commanded velocities.
joint_bounds – The allowable limits for the robot joints.
margins – Additional buffer on the actual joint limits.
- Returns:
The joints that are violating the specified position limits.