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Make ConcreteRobot limit functions public. #556

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Oct 11, 2019
Merged

Make ConcreteRobot limit functions public. #556

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62be33a
Make ConcreteRobot limit functions public.
evil-sherdil Oct 10, 2019
bc8b24a
Merge branch 'master' into sniyaz_public_limits
brianhou Oct 10, 2019
06df779
Update CHANGELOG.
evil-sherdil Oct 10, 2019
d329409
Apply suggestions from code review
brianhou Oct 11, 2019
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -78,6 +78,8 @@

* Added Robot, Manipulator, Hand interfaces, and ConcreteRobot, ConcreteManipulator classes: [#325](https://github.com/personalrobotics/aikido/pull/325), [#392](https://github.com/personalrobotics/aikido/pull/392)
* Added Kunz timer to Robot class: [#505](https://github.com/personalrobotics/aikido/pull/505)
* Make ConcreteRobot limit functions public:
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[#556](https://github.com/personalrobotics/aikido/pull/556)
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* RViz

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22 changes: 14 additions & 8 deletions include/aikido/robot/ConcreteRobot.hpp
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Expand Up @@ -251,21 +251,27 @@ class ConcreteRobot : public Robot
void setCRRTPlannerParameters(
const util::CRRTPlannerParameters& crrtParameters);

/// Computes velocity limits from the MetaSkeleton. These should be
/// interpreted as absolute in both the positive and negative directions.
/// \param[in] metaSkeleton MetaSkeleton to compute limits for.
/// \return Symmetric velocity limits.
Eigen::VectorXd getVelocityLimits(
const dart::dynamics::MetaSkeleton& metaSkeleton) const;

/// Computes acceleration limits from the MetaSkeleton. These should be
/// interpreted as absolute in both the positive and negative directions.
/// \param[in] metaSkeleton MetaSkeleton to compute limits for.
/// \return Symmetric acceleration limits.
Eigen::VectorXd getAccelerationLimits(
const dart::dynamics::MetaSkeleton& metaSkeleton) const;

private:
// Named Configurations are read from a YAML file
using ConfigurationMap
= std::unordered_map<std::string, const Eigen::VectorXd>;

std::unique_ptr<aikido::common::RNG> cloneRNG();

/// Compute velocity limits from the MetaSkeleton
Eigen::VectorXd getVelocityLimits(
const dart::dynamics::MetaSkeleton& metaSkeleton) const;

/// Compute acceleration limits from the MetaSkeleton
Eigen::VectorXd getAccelerationLimits(
const dart::dynamics::MetaSkeleton& metaSkeleton) const;

/// If this robot belongs to another (Composite)Robot,
/// mRootRobot is the topmost robot containing this robot.
Robot* mRootRobot;
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28 changes: 14 additions & 14 deletions src/robot/ConcreteRobot.cpp
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Expand Up @@ -247,20 +247,6 @@ void ConcreteRobot::step(const std::chrono::system_clock::time_point& timepoint)
mTrajectoryExecutor->step(timepoint);
}

//==============================================================================
Eigen::VectorXd ConcreteRobot::getVelocityLimits(
const MetaSkeleton& metaSkeleton) const
{
return getSymmetricVelocityLimits(metaSkeleton, asymmetryTolerance);
}

//==============================================================================
Eigen::VectorXd ConcreteRobot::getAccelerationLimits(
const MetaSkeleton& metaSkeleton) const
{
return getSymmetricAccelerationLimits(metaSkeleton, asymmetryTolerance);
}

// ==============================================================================
CollisionFreePtr ConcreteRobot::getSelfCollisionConstraint(
const ConstMetaSkeletonStateSpacePtr& space,
Expand Down Expand Up @@ -494,6 +480,20 @@ void ConcreteRobot::setCRRTPlannerParameters(
mCRRTParameters = crrtParameters;
}

//==============================================================================
Eigen::VectorXd ConcreteRobot::getVelocityLimits(
const MetaSkeleton& metaSkeleton) const
{
return getSymmetricVelocityLimits(metaSkeleton, asymmetryTolerance);
}

//==============================================================================
Eigen::VectorXd ConcreteRobot::getAccelerationLimits(
const MetaSkeleton& metaSkeleton) const
{
return getSymmetricAccelerationLimits(metaSkeleton, asymmetryTolerance);
}

//==============================================================================
std::unique_ptr<common::RNG> ConcreteRobot::cloneRNG()
{
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