constrained_ik::constraints::AvoidJointLimits::AvoidJointLimitsData Struct Reference

This structure stores constraint data. More...

#include <avoid_joint_limits.h>

List of all members.

Public Member Functions
	AvoidJointLimitsData (const constrained_ik::SolverState &state, const constraints::AvoidJointLimits *parent)
	See base class for documentation.
bool	nearLowerLimit (size_t idx) const
	Check if a given joint is near its lower limit.
bool	nearUpperLimit (size_t idx) const
	Check if a given joint is near its upper limit.
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::vector< int >	limited_joints_
	list of joints that will be constrained
const constraints::AvoidJointLimits *	parent_
	pointer to parent class object

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Detailed Description

This structure stores constraint data.

Definition at line 93 of file avoid_joint_limits.h.

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Member Function Documentation

bool constrained_ik::constraints::AvoidJointLimits::AvoidJointLimitsData::nearLowerLimit

(

size_t

idx

)

const

Check if a given joint is near its lower limit.

Parameters:

idx	Index of joint

Returns:

True if joint position is within threshold of lower limit

Definition at line 187 of file avoid_joint_limits.cpp.

bool constrained_ik::constraints::AvoidJointLimits::AvoidJointLimitsData::nearUpperLimit

(

size_t

idx

)

const

Check if a given joint is near its upper limit.

Parameters:

idx	Index of joint

Returns:

True if joint position is within threshold of upper limit

Definition at line 195 of file avoid_joint_limits.cpp.

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The documentation for this struct was generated from the following files:

• avoid_joint_limits.h
• avoid_joint_limits.cpp