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.

Detailed Description

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.

Member Function Documentation

◆ addLimit()

bool pilz_industrial_motion_planner::JointLimitsContainer::addLimit	(	const std::string &	joint_name,
		pilz_industrial_motion_planner::JointLimit	joint_limit
	)

Add a limit.

Parameters

joint_name	Name if the joint this limit belongs to
joint_limit	Limit of the joint

Returns: true if the limit was added, false if joint_limit.has_deceleration_limit && joint_limit.max_deceleration >= 0

Definition at line 52 of file joint_limits_container.cpp.

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◆ begin()

std::map< std::string, JointLimit >::const_iterator pilz_industrial_motion_planner::JointLimitsContainer::begin ( ) const

ConstIterator to the underlying data structure.

Returns

Definition at line 109 of file joint_limits_container.cpp.

◆ empty()

bool pilz_industrial_motion_planner::JointLimitsContainer::empty ( ) const

Returns whether the container is empty.

Returns: true if empty, false otherwise

Definition at line 79 of file joint_limits_container.cpp.

◆ end()

std::map< std::string, JointLimit >::const_iterator pilz_industrial_motion_planner::JointLimitsContainer::end ( ) const

ConstIterator to the underlying data structure.

Returns

Definition at line 114 of file joint_limits_container.cpp.

◆ getCommonLimit() [1/2]

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.

Returns: joint limit

Definition at line 84 of file joint_limits_container.cpp.

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◆ getCommonLimit() [2/2]

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.

Parameters

joint_names

Returns: joint limit

Exceptions

std::out_of_range if a joint limit with this name does not exist

Definition at line 94 of file joint_limits_container.cpp.

◆ getCount()

size_t pilz_industrial_motion_planner::JointLimitsContainer::getCount ( ) const

Get Number of limits in the container.

Returns: Number of limits in the container

Definition at line 74 of file joint_limits_container.cpp.

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◆ getLimit()

JointLimit pilz_industrial_motion_planner::JointLimitsContainer::getLimit ( const std::string & joint_name ) const

getLimit get the limit for the given joint name

Parameters

joint_name

Returns: joint limit

Exceptions

std::out_of_range if a joint limit with this name does not exist

Definition at line 104 of file joint_limits_container.cpp.

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◆ hasLimit()

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.

Parameters

joint_name Name of the joint

Definition at line 69 of file joint_limits_container.cpp.

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◆ verifyAccelerationLimit()

bool pilz_industrial_motion_planner::JointLimitsContainer::verifyAccelerationLimit	(	const std::string &	joint_name,
		double	joint_acceleration
	)		const

verify acceleration limit of single joint

Parameters

joint_name
joint_acceleration

Returns: true if within limits, false otherwise

Definition at line 131 of file joint_limits_container.cpp.

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◆ verifyDecelerationLimit()

bool pilz_industrial_motion_planner::JointLimitsContainer::verifyDecelerationLimit	(	const std::string &	joint_name,
		double	joint_acceleration
	)		const

verify deceleration limit of single joint

Parameters

joint_name
joint_acceleration

Returns: true if within limits, false otherwise

Definition at line 137 of file joint_limits_container.cpp.

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◆ verifyPositionLimit()

bool pilz_industrial_motion_planner::JointLimitsContainer::verifyPositionLimit	(	const std::string &	joint_name,
		double	joint_position
	)		const

verify position limit of single joint

Parameters

joint_name
joint_position

Returns: true if within limits, false otherwise

Definition at line 119 of file joint_limits_container.cpp.

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◆ verifyVelocityLimit()

bool pilz_industrial_motion_planner::JointLimitsContainer::verifyVelocityLimit	(	const std::string &	joint_name,
		double	joint_velocity
	)		const

verify velocity limit of single joint

Parameters

joint_name
joint_velocity

Returns: true if within limits, false otherwise

Definition at line 125 of file joint_limits_container.cpp.

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Member Data Documentation

◆ container_

std::map<std::string, JointLimit> pilz_industrial_motion_planner::JointLimitsContainer::container_

protected

Actual container object containing the data.

Definition at line 169 of file joint_limits_container.h.

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

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addLimit()

◆ begin()

◆ empty()

◆ end()

◆ getCommonLimit() [1/2]

◆ getCommonLimit() [2/2]

◆ getCount()

◆ getLimit()

◆ hasLimit()

◆ verifyAccelerationLimit()

◆ verifyDecelerationLimit()

◆ verifyPositionLimit()

◆ verifyVelocityLimit()

Member Data Documentation

◆ container_