pilz_industrial_motion_planner::JointLimitsAggregator Class Reference

Unifies the joint limits from the given joint models with joint limits from the node parameters. More...

#include <joint_limits_aggregator.h>

Static Public Member Functions
static JointLimitsContainer	getAggregatedLimits (const rclcpp::Node::SharedPtr &node, const std::string &param_namespace, const std::vector< const moveit::core::JointModel * > &joint_models)
	Aggregates(combines) the joint limits from joint model and node parameters. The rules for the combination are:

Static Protected Member Functions
static void	updatePositionLimitFromJointModel (const moveit::core::JointModel *joint_model, JointLimit &joint_limit)
	Update the position limits with the ones from the joint_model.
static void	updateVelocityLimitFromJointModel (const moveit::core::JointModel *joint_model, JointLimit &joint_limit)
	Update the velocity limit with the one from the joint_model.
static void	checkPositionBoundsThrowing (const moveit::core::JointModel *joint_model, const JointLimit &joint_limit)
	Checks if the position limits from the given joint_limit are stricter than the limits of the joint_model. Throws AggregationBoundsViolationException on violation.
static void	checkVelocityBoundsThrowing (const moveit::core::JointModel *joint_model, const JointLimit &joint_limit)
	Checks if the velocity limit from the given joint_limit are stricter than the limit of the joint_model. Throws AggregationBoundsViolationException on violation.

Detailed Description

Unifies the joint limits from the given joint models with joint limits from the node parameters.

Does not support MultiDOF joints.

Definition at line 56 of file joint_limits_aggregator.h.

Member Function Documentation

checkPositionBoundsThrowing()

void JointLimitsAggregator::checkPositionBoundsThrowing ( const moveit::core::JointModel *  joint_model, const JointLimit &  joint_limit  )

staticprotected

Checks if the position limits from the given joint_limit are stricter than the limits of the joint_model. Throws AggregationBoundsViolationException on violation.

Parameters

joint_model	The joint_model
joint_limit	The joint_limit

Definition at line 168 of file joint_limits_aggregator.cpp.

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checkVelocityBoundsThrowing()

void JointLimitsAggregator::checkVelocityBoundsThrowing ( const moveit::core::JointModel *  joint_model, const JointLimit &  joint_limit  )

staticprotected

Checks if the velocity limit from the given joint_limit are stricter than the limit of the joint_model. Throws AggregationBoundsViolationException on violation.

Parameters

joint_model	The joint_model
joint_limit	The joint_limit

Definition at line 186 of file joint_limits_aggregator.cpp.

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getAggregatedLimits()

pilz_industrial_motion_planner::JointLimitsContainer JointLimitsAggregator::getAggregatedLimits ( const rclcpp::Node::SharedPtr &  node, const std::string &  param_namespace, const std::vector< const moveit::core::JointModel * > &  joint_models  )

static

Aggregates(combines) the joint limits from joint model and node parameters. The rules for the combination are:

1. Position and velocity limits in the node parameters must be stricter or equal if they are defined.
2. Limits in the node parameters where the corresponding has_<position|velocity|acceleration|deceleration>_limits are „false“ are considered undefined(see point 1).
3. Not all joints have to be limited by the node parameters. Selective limitation is possible.
4. If max_deceleration is unset, it will be set to: max_deceleration = - max_acceleration.

   Note

   The acceleration/deceleration can only be set via the node parameters parameter since they are not supported in the urdf so far.

   Parameters

   node	Node to use for accessing joint limit parameters
   param_namespace	Namespace to use for looking up node parameters
   joint_models	The joint models

   Returns

   Container containing the limits

Definition at line 52 of file joint_limits_aggregator.cpp.

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updatePositionLimitFromJointModel()

void JointLimitsAggregator::updatePositionLimitFromJointModel ( const moveit::core::JointModel *  joint_model, JointLimit &  joint_limit  )

staticprotected

Update the position limits with the ones from the joint_model.

If the joint model has no position limit, the value is unchanged.

Parameters

joint_model	The joint model
joint_limit	The joint_limit to be filled with new values.

Definition at line 115 of file joint_limits_aggregator.cpp.

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updateVelocityLimitFromJointModel()

void JointLimitsAggregator::updateVelocityLimitFromJointModel ( const moveit::core::JointModel *  joint_model, JointLimit &  joint_limit  )

staticprotected

Update the velocity limit with the one from the joint_model.

If the joint model has no velocity limit, the value is unchanged.

Parameters

joint_model	The joint model
joint_limit	The joint_limit to be filled with new values.

Definition at line 144 of file joint_limits_aggregator.cpp.

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The documentation for this class was generated from the following files:

• moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_aggregator.h
• moveit_planners/pilz_industrial_motion_planner/src/joint_limits_aggregator.cpp