kinematic_limits.h File Reference

Common Tesseract Kinematic Limits and Related Utility Functions. More...

#include <tesseract/common/macros.h>
#include <Eigen/Core>
#include <Eigen/Geometry>

Classes
struct	tesseract::common::KinematicLimits
	Store kinematic limits. More...

Namespaces
namespace	tesseract::common
	Namespace owning boost's hash_is_avalanching, and defined iff boost has the trait at all.

Functions
template<typename FloatType >
bool	tesseract::common::isWithinLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &limits)
	Check if within limits.
template<typename FloatType >
bool	tesseract::common::satisfiesLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &limits, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &max_diff, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &max_rel_diff)
	Check if values are within bounds or relatively equal to a limit.
template<typename FloatType >
bool	tesseract::common::satisfiesLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &limits, FloatType max_diff=static_cast< FloatType >(1e-6), FloatType max_rel_diff=std::numeric_limits< FloatType >::epsilon())
	Check if values is within bounds or relatively equal to a limit.
template<typename FloatType >
void	tesseract::common::enforceLimits (Eigen::Ref< Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > values, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &limits)
	Enforce values to be within the provided limits.

Detailed Description

Common Tesseract Kinematic Limits and Related Utility Functions.

Author

Levi Armstrong

Date

March 25, 2021

Copyright

Copyright (c) 2021, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.