JointNamePositionLimiter Class Reference

wrapper to add position limiting by joint name to a JointPositionLimiter More...

#include <MotionLimiter.h>

List of all members.

Public Member Functions
bool	getLimits (const std::string &jointName, std::pair< double, double > &limits) const
double	getMaxPosition (const std::string &jointName) const
bool	getMaxVelocity (const std::string &jointName, double &lim) const
double	getMinPosition (const std::string &jointName) const
bool	hasLimits (const std::string &jointName) const
	JointNamePositionLimiter ()
bool	limit (const std::string &jointName, double &value) const
bool	limitVelocity (const std::string &jointName, double &value) const
void	reorderLimits (const std::vector< std::string > &jointNames)
	reorder limits based on joint_name
void	setJointPositionLimiter (boost::shared_ptr< JointPositionLimiter > positionLimiter_in)
void	setLimits (const std::vector< std::string > &jointNames, const std::vector< double > &minPositionArray_in, const std::vector< double > &maxPositionArray_in, const std::vector< double > &maxVelocityArray_in)
	set limits based on joint_name
virtual	~JointNamePositionLimiter ()
Private Member Functions
	JointNamePositionLimiter (const JointNamePositionLimiter &)
Private Attributes
std::map< std::string, unsigned int >	jointLimitIndices
std::vector< std::string >	joints
boost::shared_ptr < JointPositionLimiter >	positionLimiter

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Detailed Description

wrapper to add position limiting by joint name to a JointPositionLimiter

Definition at line 124 of file MotionLimiter.h.

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Constructor & Destructor Documentation

JointNamePositionLimiter::JointNamePositionLimiter

(

)

[inline]

Definition at line 127 of file MotionLimiter.h.

virtual JointNamePositionLimiter::~JointNamePositionLimiter

(

)

[inline, virtual]

Definition at line 128 of file MotionLimiter.h.

JointNamePositionLimiter::JointNamePositionLimiter

(

const JointNamePositionLimiter &

)

[inline, private]

Definition at line 162 of file MotionLimiter.h.

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Member Function Documentation

bool JointNamePositionLimiter::getLimits	(	const std::string &	jointName,
		std::pair< double, double > &	limits
	)		const

Definition at line 231 of file MotionLimiter.cpp.

double JointNamePositionLimiter::getMaxPosition

(

const std::string &

jointName

)

const

Definition at line 201 of file MotionLimiter.cpp.

bool JointNamePositionLimiter::getMaxVelocity	(	const std::string &	jointName,
		double &	lim
	)		const

Definition at line 216 of file MotionLimiter.cpp.

double JointNamePositionLimiter::getMinPosition

(

const std::string &

jointName

)

const

Definition at line 186 of file MotionLimiter.cpp.

bool JointNamePositionLimiter::hasLimits

(

const std::string &

jointName

)

const [inline]

Definition at line 152 of file MotionLimiter.h.

bool JointNamePositionLimiter::limit	(	const std::string &	jointName,
		double &	value
	)		const

Definition at line 247 of file MotionLimiter.cpp.

bool JointNamePositionLimiter::limitVelocity	(	const std::string &	jointName,
		double &	value
	)		const

Definition at line 274 of file MotionLimiter.cpp.

void JointNamePositionLimiter::reorderLimits

(

const std::vector< std::string > &

jointNames

)

reorder limits based on joint_name

Parameters:

jointNames

vector of joint names

Returns:

void

reorders the array of of jointlimits to match the order in jointNames

do we need to do anything?

first collect the limits specified by jointNames

add any others that were in the map

Definition at line 129 of file MotionLimiter.cpp.

void JointNamePositionLimiter::setJointPositionLimiter

(

boost::shared_ptr< JointPositionLimiter >

positionLimiter_in

)

[inline]

Definition at line 130 of file MotionLimiter.h.

void JointNamePositionLimiter::setLimits	(	const std::vector< std::string > &	jointNames,
		const std::vector< double > &	minPositionArray_in,
		const std::vector< double > &	maxPositionArray_in,
		const std::vector< double > &	maxVelocityArray_in
	)

set limits based on joint_name

Parameters:

jointNames	vector of joint names
limArray_in	vector of joint limits

Returns:

void

Exceptions:

logic

error jointNames and limArray_in have different lengths

Definition at line 102 of file MotionLimiter.cpp.

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Member Data Documentation

std::map<std::string, unsigned int> JointNamePositionLimiter::jointLimitIndices [private]

Definition at line 165 of file MotionLimiter.h.

std::vector<std::string> JointNamePositionLimiter::joints [private]

Definition at line 167 of file MotionLimiter.h.

boost::shared_ptr<JointPositionLimiter> JointNamePositionLimiter::positionLimiter [private]

Definition at line 163 of file MotionLimiter.h.

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

• MotionLimiter.h
• MotionLimiter.cpp