Function pilz_industrial_motion_planner::verifySampleJointLimits

Function Documentation

bool pilz_industrial_motion_planner::verifySampleJointLimits(const std::map<std::string, double> &position_last, const std::map<std::string, double> &velocity_last, const std::map<std::string, double> &position_current, double duration_last, double duration_current, const JointLimitsContainer &joint_limits)

verify the velocity/acceleration limits of current sample (based on backward difference computation) v(k) = [x(k) - x(k-1)]/[t(k) - t(k-1)] a(k) = [v(k) - v(k-1)]/[t(k) - t(k-2)]*2

Parameters:

  • position_last – position of last sample

  • velocity_last – velocity of last sample

  • position_current – position of current sample

  • duration_last – duration of last sample

  • duration_current – duration of current sample

  • joint_limits – joint limits

Returns: