moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits. More...
#include <joint_limits_container.h>
Public Member Functions | |
bool | addLimit (const std::string &joint_name, JointLimit joint_limit) |
Add a limit. | |
bool | hasLimit (const std::string &joint_name) const |
Check if there is a limit for a joint with the given name in this container. | |
size_t | getCount () const |
Get Number of limits in the container. | |
bool | empty () const |
Returns whether the container is empty. | |
JointLimit | getCommonLimit () const |
Returns joint limit fusion of all(position, velocity, acceleration,
deceleration) limits for all joint. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false. | |
JointLimit | getCommonLimit (const std::vector< std::string > &joint_names) const |
Returns joint limit fusion of all(position, velocity, acceleration,
deceleration) limits for given joints. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false. | |
JointLimit | getLimit (const std::string &joint_name) const |
getLimit get the limit for the given joint name | |
std::map< std::string, JointLimit >::const_iterator | begin () const |
ConstIterator to the underlying data structure. | |
std::map< std::string, JointLimit >::const_iterator | end () const |
ConstIterator to the underlying data structure. | |
bool | verifyPositionLimit (const std::string &joint_name, double joint_position) const |
verify position limit of single joint | |
bool | verifyVelocityLimit (const std::string &joint_name, double joint_velocity) const |
verify velocity limit of single joint | |
bool | verifyAccelerationLimit (const std::string &joint_name, double joint_acceleration) const |
verify acceleration limit of single joint | |
bool | verifyDecelerationLimit (const std::string &joint_name, double joint_acceleration) const |
verify deceleration limit of single joint | |
Protected Attributes | |
std::map< std::string, JointLimit > | container_ |
Actual container object containing the data. | |
Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits.
Definition at line 51 of file joint_limits_container.h.
bool pilz_industrial_motion_planner::JointLimitsContainer::addLimit | ( | const std::string & | joint_name, |
pilz_industrial_motion_planner::JointLimit | joint_limit | ||
) |
Add a limit.
joint_name | Name if the joint this limit belongs to |
joint_limit | Limit of the joint |
Definition at line 52 of file joint_limits_container.cpp.
std::map< std::string, JointLimit >::const_iterator pilz_industrial_motion_planner::JointLimitsContainer::begin | ( | ) | const |
ConstIterator to the underlying data structure.
Definition at line 109 of file joint_limits_container.cpp.
bool pilz_industrial_motion_planner::JointLimitsContainer::empty | ( | ) | const |
Returns whether the container is empty.
Definition at line 79 of file joint_limits_container.cpp.
std::map< std::string, JointLimit >::const_iterator pilz_industrial_motion_planner::JointLimitsContainer::end | ( | ) | const |
ConstIterator to the underlying data structure.
Definition at line 114 of file joint_limits_container.cpp.
JointLimit pilz_industrial_motion_planner::JointLimitsContainer::getCommonLimit | ( | ) | const |
Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for all joint. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false.
Definition at line 84 of file joint_limits_container.cpp.
JointLimit pilz_industrial_motion_planner::JointLimitsContainer::getCommonLimit | ( | const std::vector< std::string > & | joint_names | ) | const |
Returns joint limit fusion of all(position, velocity, acceleration, deceleration) limits for given joints. There are cases where the most strict limit of all limits is needed. If there are no matching limits, the flag has_[position|velocity|...]_limits is set to false.
joint_names |
std::out_of_range | if a joint limit with this name does not exist |
Definition at line 94 of file joint_limits_container.cpp.
size_t pilz_industrial_motion_planner::JointLimitsContainer::getCount | ( | ) | const |
Get Number of limits in the container.
Definition at line 74 of file joint_limits_container.cpp.
JointLimit pilz_industrial_motion_planner::JointLimitsContainer::getLimit | ( | const std::string & | joint_name | ) | const |
getLimit get the limit for the given joint name
joint_name |
std::out_of_range | if a joint limit with this name does not exist |
Definition at line 104 of file joint_limits_container.cpp.
bool pilz_industrial_motion_planner::JointLimitsContainer::hasLimit | ( | const std::string & | joint_name | ) | const |
Check if there is a limit for a joint with the given name in this container.
joint_name | Name of the joint |
Definition at line 69 of file joint_limits_container.cpp.
bool pilz_industrial_motion_planner::JointLimitsContainer::verifyAccelerationLimit | ( | const std::string & | joint_name, |
double | joint_acceleration | ||
) | const |
verify acceleration limit of single joint
joint_name | |
joint_acceleration |
Definition at line 131 of file joint_limits_container.cpp.
bool pilz_industrial_motion_planner::JointLimitsContainer::verifyDecelerationLimit | ( | const std::string & | joint_name, |
double | joint_acceleration | ||
) | const |
verify deceleration limit of single joint
joint_name | |
joint_acceleration |
Definition at line 137 of file joint_limits_container.cpp.
bool pilz_industrial_motion_planner::JointLimitsContainer::verifyPositionLimit | ( | const std::string & | joint_name, |
double | joint_position | ||
) | const |
verify position limit of single joint
joint_name | |
joint_position |
Definition at line 119 of file joint_limits_container.cpp.
bool pilz_industrial_motion_planner::JointLimitsContainer::verifyVelocityLimit | ( | const std::string & | joint_name, |
double | joint_velocity | ||
) | const |
verify velocity limit of single joint
joint_name | |
joint_velocity |
Definition at line 125 of file joint_limits_container.cpp.
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protected |
Actual container object containing the data.
Definition at line 169 of file joint_limits_container.h.