Add missing file

Author: urfeex

src/control/motion_primitives.cpp

@@ -0,0 +1,94 @@
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// Copyright 2025 Universal Robots A/S
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the {copyright_holder} nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// -- END LICENSE BLOCK ------------------------------------------------
+
+#include <ur_client_library/control/motion_primitives.h>
+#include <ur_client_library/log.h>
+
+namespace urcl::control
+{
+
+bool MotionPrimitive::validate() const
+{
+  if (acceleration < 0)
+  {
+    URCL_LOG_ERROR("Negative acceleration passed to motion primitive. This is not allowed.");
+    return false;
+  }
+  if (velocity < 0)
+  {
+    URCL_LOG_ERROR("Negative velocity passed to motion primitive. This is not allowed.");
+    return false;
+  }
+  if (blend_radius < 0)
+  {
+    URCL_LOG_ERROR("Negative blend radius passed to motion primitive. This is not allowed.");
+    return false;
+  }
+  return true;
+}
+
+bool OptimoveJPrimitive::validate() const
+{
+  if (!MotionPrimitive::validate())
+  {
+    return false;
+  }
+  if (acceleration <= 0 || acceleration > 1.0)
+  {
+    URCL_LOG_ERROR("Acceleration fraction must be in range (0, 1].");
+    return false;
+  }
+  if (velocity <= 0 || velocity > 1.0)
+  {
+    URCL_LOG_ERROR("Velocity fraction must be in range (0, 1].");
+    return false;
+  }
+  return true;
+}
+
+bool OptimoveLPrimitive::validate() const
+{
+  if (!MotionPrimitive::validate())
+  {
+    return false;
+  }
+  if (acceleration <= 0 || acceleration > 1.0)
+  {
+    URCL_LOG_ERROR("Acceleration fraction must be in range (0, 1].");
+    return false;
+  }
+  if (velocity <= 0 || velocity > 1.0)
+  {
+    URCL_LOG_ERROR("Velocity fraction must be in range (0, 1].");
+    return false;
+  }
+  return true;
+}
+}  // namespace urcl::control