Function angles::find_min_max_delta

• Defined in File angles.h

Function Documentation

static bool angles::find_min_max_delta(double from, double left_limit, double right_limit, double &result_min_delta, double &result_max_delta)

This function is only intended for internal use and not intended for external use. If you do use it, read the documentation very carefully. Returns the min and max amount (in radians) that can be moved from “from” angle to “left_limit” and “right_limit”.

\function

Parameters

• from – - “from” angle - must lie in [-M_PI, M_PI)

• left_limit – - left limit of valid interval for angular position - must lie in [-M_PI, M_PI], left and right limits are specified on the unit circle w.r.t to a reference pointing inwards

• right_limit – - right limit of valid interval for angular position - must lie in [-M_PI, M_PI], left and right limits are specified on the unit circle w.r.t to a reference pointing inwards

• result_min_delta – - minimum (delta) angle (in radians) that can be moved from “from” position before hitting the joint stop

• result_max_delta – - maximum (delta) angle (in radians) that can be movedd from “from” position before hitting the joint stop

Returns

returns false if “from” angle does not lie in the interval [left_limit,right_limit]