An internal structure used for maintaining constraints on a particular joint. More...
#include <default_constraint_samplers.h>
Public Member Functions | |
JointInfo () | |
Constructor. | |
void | potentiallyAdjustMinMaxBounds (double min, double max) |
Function that adjusts the joints only if they are more restrictive. This means that the min limit is higher than the current limit, or the max limit is lower than the current max limit. | |
Public Attributes | |
std::size_t | index_ |
double | max_bound_ |
double | min_bound_ |
An internal structure used for maintaining constraints on a particular joint.
Definition at line 164 of file default_constraint_samplers.h.
void constraint_samplers::JointConstraintSampler::JointInfo::potentiallyAdjustMinMaxBounds | ( | double | min, |
double | max | ||
) | [inline] |
Function that adjusts the joints only if they are more restrictive. This means that the min limit is higher than the current limit, or the max limit is lower than the current max limit.
min | The min limit for potential adjustment |
max | The max limit for potential adjustment |
Definition at line 186 of file default_constraint_samplers.h.
The index within the joint state vector for this joint
Definition at line 194 of file default_constraint_samplers.h.
The most restrictive max value of those set
Definition at line 193 of file default_constraint_samplers.h.
The most restrictive min value of those set
Definition at line 192 of file default_constraint_samplers.h.