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...

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.

Function Documentation

isWithinLimits()

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.

Parameters

joint_positions	The values to check
position_limits	The limits to perform check

Returns

satisfiesLimits() [1/2]

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.

Parameters

values	The values to check
limits	The limits to perform check
max_diff	The max diff when comparing value to limit value max(abs(value - limit)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff between value and limit abs(value - limit) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of value and limit.

Returns

True if the all values are within the limits or relatively equal to the limit, otherwise false.

satisfiesLimits() [2/2]

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.

Parameters

values	The values to check
limits	The limits to perform check
max_diff	The max diff when comparing value to limit value max(abs(value - limit)) <= max_diff, if true they are considered equal
max_rel_diff	The max relative diff between value and limit abs(value - limit) <= largest * max_rel_diff, if true considered equal. The largest is the largest of the absolute values of value and limit.

Returns

True if the all values are within the limits or relatively equal to the limit, otherwise false.

enforceLimits()

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.

Parameters

values	The values to enforce bounds on
limits	The limits to perform check