Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits. More...
#include <joint_limits_container.h>
Public Member Functions | |
| bool | addLimit (const std::string &joint_name, pilz_extensions::JointLimit joint_limit) |
| Add a limit. More... | |
| std::map< std::string, pilz_extensions::JointLimit >::const_iterator | begin () const |
| ConstIterator to the underlying data structure. More... | |
| bool | empty () const |
| Returns wether the container is empty. More... | |
| std::map< std::string, pilz_extensions::JointLimit >::const_iterator | end () const |
| ConstIterator to the underlying data structure. More... | |
| pilz_extensions::JointLimit | getCommonLimit () const |
| Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for all joint. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false. More... | |
| pilz_extensions::JointLimit | getCommonLimit (const std::vector< std::string > &joint_names) const |
| Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for given joints. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false. More... | |
| size_t | getCount () const |
| Get Number of limits in the container. More... | |
| pilz_extensions::JointLimit | getLimit (const std::string &joint_name) const |
| getLimit get the limit for the given joint name More... | |
| bool | hasLimit (const std::string &joint_name) const |
| Check if there is a limit for a joint with the given name in this container. More... | |
| bool | verifyPositionLimit (const std::string &joint_name, const double &joint_position) const |
| verify position limit of single joint More... | |
| bool | verifyPositionLimits (const std::vector< std::string > &joint_names, const std::vector< double > &joint_positions) const |
| verify position limits of multiple joints More... | |
| bool | verifyVelocityLimit (const std::string &joint_name, const double &joint_velocity) const |
| verify position limit of single joint More... | |
Protected Attributes | |
| std::map< std::string, pilz_extensions::JointLimit > | container_ |
| Actual container object containing the data. More... | |
Static Private Member Functions | |
| static void | updateCommonLimit (const pilz_extensions::JointLimit &joint_limit, pilz_extensions::JointLimit &common_limit) |
| update the most strict limit with given joint limit More... | |
Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits.
Definition at line 32 of file joint_limits_container.h.
| bool pilz::JointLimitsContainer::addLimit | ( | const std::string & | joint_name, |
| pilz_extensions::JointLimit | joint_limit | ||
| ) |
Add a limit.
| joint_name | Name if the joint this limit belongs to |
| joint_limit | Limit of the joint |
Definition at line 26 of file joint_limits_container.cpp.
| std::map< std::string, pilz_extensions::JointLimit >::const_iterator pilz::JointLimitsContainer::begin | ( | ) | const |
ConstIterator to the underlying data structure.
Definition at line 83 of file joint_limits_container.cpp.
| bool pilz::JointLimitsContainer::empty | ( | ) | const |
Returns wether the container is empty.
Definition at line 53 of file joint_limits_container.cpp.
| std::map< std::string, pilz_extensions::JointLimit >::const_iterator pilz::JointLimitsContainer::end | ( | ) | const |
ConstIterator to the underlying data structure.
Definition at line 88 of file joint_limits_container.cpp.
| pilz_extensions::JointLimit pilz::JointLimitsContainer::getCommonLimit | ( | ) | const |
Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for all joint. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false.
Definition at line 58 of file joint_limits_container.cpp.
| pilz_extensions::JointLimit pilz::JointLimitsContainer::getCommonLimit | ( | const std::vector< std::string > & | joint_names | ) | const |
Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for given joints. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false.
| joint_names |
| std::out_of_range | if a joint limit with this name does not exist |
Definition at line 68 of file joint_limits_container.cpp.
| size_t pilz::JointLimitsContainer::getCount | ( | ) | const |
Get Number of limits in the container.
Definition at line 48 of file joint_limits_container.cpp.
| pilz_extensions::JointLimit pilz::JointLimitsContainer::getLimit | ( | const std::string & | joint_name | ) | const |
getLimit get the limit for the given joint name
| joint_name |
| std::out_of_range | if a joint limit with this name does not exist |
Definition at line 78 of file joint_limits_container.cpp.
| bool pilz::JointLimitsContainer::hasLimit | ( | const std::string & | joint_name | ) | const |
Check if there is a limit for a joint with the given name in this container.
| joint_name | Name of the joint |
Definition at line 43 of file joint_limits_container.cpp.
|
staticprivate |
update the most strict limit with given joint limit
| joint_limit | |
| common_limit | the current most strict limit |
Definition at line 131 of file joint_limits_container.cpp.
| bool pilz::JointLimitsContainer::verifyPositionLimit | ( | const std::string & | joint_name, |
| const double & | joint_position | ||
| ) | const |
verify position limit of single joint
| joint_name | |
| joint_position |
Definition at line 102 of file joint_limits_container.cpp.
| bool pilz::JointLimitsContainer::verifyPositionLimits | ( | const std::vector< std::string > & | joint_names, |
| const std::vector< double > & | joint_positions | ||
| ) | const |
verify position limits of multiple joints
| joint_names | |
| joint_positions |
Definition at line 112 of file joint_limits_container.cpp.
| bool pilz::JointLimitsContainer::verifyVelocityLimit | ( | const std::string & | joint_name, |
| const double & | joint_velocity | ||
| ) | const |
verify position limit of single joint
| joint_name | |
| joint_position |
Definition at line 93 of file joint_limits_container.cpp.
|
protected |
Actual container object containing the data.
Definition at line 141 of file joint_limits_container.h.