Function moveit_servo::jointsToHalt

Function Documentation

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

Finds the joints that are 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 joints that are violating the specified position limits.