Class JointLimitsValidator

• Defined in File joint_limits_validator.h

Class Documentation

class JointLimitsValidator

Validates the equality of all limits inside a container.

Public Static Functions

static bool validateAllPositionLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)

Validates that the position limits of all limits are equal.

Note

always returns true if has_position_limits=false for all limits, or if the size of joint_limits is 0 or 1

Parameters:

joint_limits – the joint limits

Returns:

true if all are equal

static bool validateAllVelocityLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)

Validates that the velocity of all limits is equal.

Note

always returns true if has_velocity_limits=false for all limits, or if the size of joint_limits is 0 or 1

Parameters:

joint_limits – the joint limits

Returns:

true if all are equal

static bool validateAllAccelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)

Validates that the acceleration of all limits is equal.

Note

always returns true if has_acceleration_limits=false for all limits, or if size of joint_limits is 0 or 1

Parameters:

joint_limits – the joint limits

Returns:

true if all are equal

static bool validateAllDecelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer &joint_limits)

Validates that the deceleration of all limits is equal.

Note

always returns true if has_acceleration_limits=false for all limits, or if size of joint_limits is 0 or 1

Parameters:

joint_limits – the joint limits

Returns:

true if all are equal