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Drake
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Drake
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Wrapper type for position, velocity, and acceleration limits.
Note that enforcement of finite limits by this class is optional; see the require_finite_* constructor arguments.
NaNs are rejected for all limits and tolerances.
#include <drake/planning/joint_limits.h>
Public Member Functions | |
| JointLimits (const multibody::MultibodyPlant< double > &plant, bool require_finite_positions=false, bool require_finite_velocities=false, bool require_finite_accelerations=false) | |
Constructs a JointLimits using the position, velocity, and acceleration limits in the provided plant. More... | |
| JointLimits (const multibody::MultibodyPlant< double > &plant, const DofMask &active_dof, bool require_finite_positions=false, bool require_finite_velocities=false, bool require_finite_accelerations=false) | |
Constructs a JointLimits using the position, velocity, and acceleration limits in the provided plant, selecting only the dofs indicated by active_dof. More... | |
| JointLimits (const JointLimits &other, const DofMask &active_dof, bool require_finite_positions=false, bool require_finite_velocities=false, bool require_finite_accelerations=false) | |
Constructs a JointLimits using the position, velocity, and acceleration limits in the provided other, selecting only the coefficients indicated by active_dof. More... | |
| JointLimits (const Eigen::VectorXd &position_lower, const Eigen::VectorXd &position_upper, const Eigen::VectorXd &velocity_lower, const Eigen::VectorXd &velocity_upper, const Eigen::VectorXd &acceleration_lower, const Eigen::VectorXd &acceleration_upper, bool require_finite_positions=false, bool require_finite_velocities=false, bool require_finite_accelerations=false) | |
| Constructs a JointLimits using the provided arguments. More... | |
| JointLimits ()=default | |
| Constructs a JointLimits with 0-length vectors for all limits. More... | |
| ~JointLimits () | |
| int | num_positions () const |
| int | num_velocities () const |
| int | num_accelerations () const |
| const Eigen::VectorXd & | position_lower () const |
| const Eigen::VectorXd & | position_upper () const |
| const Eigen::VectorXd & | velocity_lower () const |
| const Eigen::VectorXd & | velocity_upper () const |
| const Eigen::VectorXd & | acceleration_lower () const |
| const Eigen::VectorXd & | acceleration_upper () const |
| bool | CheckInPositionLimits (const Eigen::VectorXd &position, double tolerance=0.0) const |
Checks if position is within position limits, relaxed outward by tolerance in both directions. More... | |
| bool | CheckInVelocityLimits (const Eigen::VectorXd &velocity, double tolerance=0.0) const |
Checks if velocity is within velocity limits, relaxed outward by tolerance in both directions. More... | |
| bool | CheckInAccelerationLimits (const Eigen::VectorXd &acceleration, double tolerance=0.0) const |
Checks if acceleration is within acceleration limits, relaxed outward by tolerance in both directions. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| JointLimits (const JointLimits &)=default | |
| JointLimits & | operator= (const JointLimits &)=default |
| JointLimits (JointLimits &&)=default | |
| JointLimits & | operator= (JointLimits &&)=default |
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| JointLimits | ( | const multibody::MultibodyPlant< double > & | plant, |
| bool | require_finite_positions = false, |
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| bool | require_finite_velocities = false, |
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| bool | require_finite_accelerations = false |
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| ) |
Constructs a JointLimits using the position, velocity, and acceleration limits in the provided plant.
| std::exception | if plant is not finalized. |
| std::exception | if the position, velocity, or acceleration limits contain non-finite values, and the corresponding constructor argument is true. |
| std::exception | if any limit value is NaN. |
| JointLimits | ( | const multibody::MultibodyPlant< double > & | plant, |
| const DofMask & | active_dof, | ||
| bool | require_finite_positions = false, |
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| bool | require_finite_velocities = false, |
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| bool | require_finite_accelerations = false |
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| ) |
Constructs a JointLimits using the position, velocity, and acceleration limits in the provided plant, selecting only the dofs indicated by active_dof.
| std::exception | if plant is not finalized. |
| std::exception | if active_dof.size() != num_positions(). |
| std::exception | if active_dof.size() != num_velocities(). |
| std::exception | if active_dof.size() != num_accelerations(). |
| std::exception | if the position, velocity, or acceleration limits contain non-finite values, and the corresponding constructor argument is true. |
| std::exception | if any limit value is NaN. |
| JointLimits | ( | const JointLimits & | other, |
| const DofMask & | active_dof, | ||
| bool | require_finite_positions = false, |
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| bool | require_finite_velocities = false, |
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| bool | require_finite_accelerations = false |
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| ) |
Constructs a JointLimits using the position, velocity, and acceleration limits in the provided other, selecting only the coefficients indicated by active_dof.
| std::exception | if active_dof.size() != other.num_positions(). |
| std::exception | if active_dof.size() != other.num_velocities(). |
| std::exception | if active_dof.size() != other.num_accelerations(). |
| std::exception | if the position, velocity, or acceleration limits contain non-finite values, and the corresponding constructor argument is true. |
| std::exception | if any limit value is NaN. |
| JointLimits | ( | const Eigen::VectorXd & | position_lower, |
| const Eigen::VectorXd & | position_upper, | ||
| const Eigen::VectorXd & | velocity_lower, | ||
| const Eigen::VectorXd & | velocity_upper, | ||
| const Eigen::VectorXd & | acceleration_lower, | ||
| const Eigen::VectorXd & | acceleration_upper, | ||
| bool | require_finite_positions = false, |
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| bool | require_finite_velocities = false, |
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| bool | require_finite_accelerations = false |
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| ) |
Constructs a JointLimits using the provided arguments.
| std::exception | if the position, velocity, or acceleration limits contain non-finite values, and the corresponding constructor argument is true. |
| std::exception | if any lower/upper limit pairs differ in size. |
| std::exception | if any upper limit coefficients are less than the corresponding lower limit coefficient. |
| std::exception | if velocity and acceleration limits differ in size. |
| std::exception | if any limit value is NaN. |
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default |
Constructs a JointLimits with 0-length vectors for all limits.
| ~JointLimits | ( | ) |
| const Eigen::VectorXd& acceleration_lower | ( | ) | const |
| const Eigen::VectorXd& acceleration_upper | ( | ) | const |
| bool CheckInAccelerationLimits | ( | const Eigen::VectorXd & | acceleration, |
| double | tolerance = 0.0 |
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| ) | const |
Checks if acceleration is within acceleration limits, relaxed outward by tolerance in both directions.
| std::exception | if acceleration.size() != num_accelerations(). |
| std::exception | if tolerance is negative. |
| std::exception | if acceleration or tolerance contain NaN values. |
| bool CheckInPositionLimits | ( | const Eigen::VectorXd & | position, |
| double | tolerance = 0.0 |
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| ) | const |
Checks if position is within position limits, relaxed outward by tolerance in both directions.
| std::exception | if position.size() != num_positions(). |
| std::exception | if tolerance is negative. |
| std::exception | if position or tolerance contain NaN values. |
| bool CheckInVelocityLimits | ( | const Eigen::VectorXd & | velocity, |
| double | tolerance = 0.0 |
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| ) | const |
Checks if velocity is within velocity limits, relaxed outward by tolerance in both directions.
| std::exception | if velocity.size() != num_velocities(). |
| std::exception | if tolerance is negative. |
| std::exception | if velocity or tolerance contain NaN values. |
| int num_accelerations | ( | ) | const |
| int num_positions | ( | ) | const |
| int num_velocities | ( | ) | const |
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| const Eigen::VectorXd& position_lower | ( | ) | const |
| const Eigen::VectorXd& position_upper | ( | ) | const |
| const Eigen::VectorXd& velocity_lower | ( | ) | const |
| const Eigen::VectorXd& velocity_upper | ( | ) | const |