Class JointLimitsContainer

Class Documentation

class JointLimitsContainer

Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits.

Public Functions

bool addLimit(const std::string &joint_name, JointLimit joint_limit)

Add a limit.

Parameters:

  • joint_name – Name if the joint this limit belongs to

  • joint_limit – Limit of the joint

Returns:

true if the limit was added, false if joint_limit.has_deceleration_limit && joint_limit.max_deceleration >= 0

bool hasLimit(const std::string &joint_name) const

Check if there is a limit for a joint with the given name in this container.

Parameters:

joint_name – Name of the joint

size_t getCount() const

Get Number of limits in the container.

Returns:

Number of limits in the container

bool empty() const

Returns whether the container is empty.

Returns:

true if empty, false otherwise

JointLimit getCommonLimit() const

Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for all joint. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|…]_limits is set to false.

Returns:

joint limit

JointLimit getCommonLimit(const std::vector<std::string> &joint_names) const

Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for given joints. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|…]_limits is set to false.

Parameters:

joint_names –

Throws:

std::out_of_range – if a joint limit with this name does not exist

Returns:

joint limit

JointLimit getLimit(const std::string &joint_name) const

getLimit get the limit for the given joint name

Parameters:

joint_name –

Throws:

std::out_of_range – if a joint limit with this name does not exist

Returns:

joint limit

std::map<std::string, JointLimit>::const_iterator begin() const

ConstIterator to the underlying data structure.

Returns:

std::map<std::string, JointLimit>::const_iterator end() const

ConstIterator to the underlying data structure.

Returns:

bool verifyPositionLimit(const std::string &joint_name, double joint_position) const

verify position limit of single joint

Parameters:

  • joint_name –

  • joint_position –

Returns:

true if within limits, false otherwise

bool verifyVelocityLimit(const std::string &joint_name, double joint_velocity) const

verify velocity limit of single joint

Parameters:

  • joint_name –

  • joint_velocity –

Returns:

true if within limits, false otherwise

bool verifyAccelerationLimit(const std::string &joint_name, double joint_acceleration) const

verify acceleration limit of single joint

Parameters:

  • joint_name –

  • joint_acceleration –

Returns:

true if within limits, false otherwise

bool verifyDecelerationLimit(const std::string &joint_name, double joint_acceleration) const

verify deceleration limit of single joint

Parameters:

  • joint_name –

  • joint_acceleration –

Returns:

true if within limits, false otherwise

Protected Attributes

std::map<std::string, JointLimit> container_

Actual container object containing the data.