Add scene methods to get joint limit vectors#162
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| max_jerk: [5.0] | ||
| shoulder_lift: | ||
| max_acceleration: [10] | ||
| max_acceleration: [1.0] |
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incidental typo fix
sjahr
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sjahr
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Nice work! The obvious annoying question: Can we add unit tests for the 4 new functions of the scene class?
Done! |
eholum
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eholum
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Just read through it (didn't try anything explicitly) but it looks in fair shape to me!
| switch (joint_info.type) { | ||
| case JointType::FLOATING: |
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Doesn't have to happen now, but would it be helpful to have the logic here and in the other limits function at the joint level? I could see value in a utility function in scene_utils.cpp or type_utils.cpp that provided the collapsed position at the joint level rather than just at the group level.
That said... This is pretty straightforward so maybe it's six of one half dozen of the other.
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I would say if we need it later we can bring this out
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Adding this in preparation for cleaning up the oink interfaces to accept the scene at construction time.
Useful for RRT, TOPP-RA, and oink position limit task (which uncovers that for some reason there is an inconsistent interface between the position and velocity limits, in that one extracts the limit from the scene and the other accepts the limit vectors explicitly).
Closes #153