Function moveit_servo::jointVariablesToHalt

Function Documentation

std::vector<size_t> moveit_servo::jointVariablesToHalt(const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const moveit::core::JointBoundsVector &joint_bounds, const std::vector<double> &margins)

Finds the joint variable indices corresponding to joints 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 joint variable indices that violate the specified position limits.