Class LimitsContainer

• Defined in File limits_container.h

Class Documentation

class LimitsContainer

This class combines CartesianLimit and JointLimits into on single class.

Public Functions

LimitsContainer()

bool hasJointLimits() const

Return if this LimitsContainer has defined joint limits.

Returns:

True if container contains joint limits

void setJointLimits(JointLimitsContainer &joint_limits)

Set joint limits.

Parameters:

joint_limits –

const JointLimitsContainer &getJointLimitContainer() const

Obtain the Joint Limits from the container.

Returns:

the joint limits

void printCartesianLimits() const

Prints the cartesian limits set by user. Default values for limits are 0.0.

void setCartesianLimits(cartesian_limits::Params &cartesian_limit)

Set cartesian limits.

Parameters:

cartesian_limit –

const cartesian_limits::Params &getCartesianLimits() const

Return the cartesian limits.

Returns:

the cartesian limits