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>
#include <boost/serialization/base_object.hpp>

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Classes
struct	tesseract_common::KinematicLimits
	Store kinematic limits. More...

Namespaces
namespace	tesseract_common

Functions
template<typename FloatType >
bool	tesseract_common::isWithinPositionLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits)
	Check if within position limits. More...
template<typename FloatType >
bool	tesseract_common::satisfiesPositionLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_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 joint position is within bounds or relatively equal to a limit. More...
template<typename FloatType >
bool	tesseract_common::satisfiesPositionLimits (const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > &joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits, FloatType max_diff=static_cast< FloatType >(1e-6), FloatType max_rel_diff=std::numeric_limits< FloatType >::epsilon())
	Check if joint position is within bounds or relatively equal to a limit. More...
template<typename FloatType >
void	tesseract_common::enforcePositionLimits (Eigen::Ref< Eigen::Matrix< FloatType, Eigen::Dynamic, 1 > > joint_positions, const Eigen::Ref< const Eigen::Matrix< FloatType, Eigen::Dynamic, 2 > > &position_limits)
	Enforce position to be within the provided limits. More...

Detailed Description

Common Tesseract Kinematic Limits and Related Utility Functions.

Author

Levi Armstrong

Date

March 25, 2021

Version

TODO

Bug:

No known bugs

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.

Author

Levi Armstrong

Date

March 25, 2021

Version

TODO

Bug:

No known bugs

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.