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Add JointModel::satisfiesAccelerationBounds() #2092
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if (!other_bounds[i].velocity_bounded_) | ||
{ | ||
continue; | ||
} |
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Not having this previously was a bug
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #2092 +/- ##
==========================================
+ Coverage 50.84% 50.89% +0.06%
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Files 391 391
Lines 32150 32140 -10
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+ Hits 16343 16355 +12
+ Misses 15807 15785 -22
... and 8 files with indirect coverage changes Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. ☔ View full report in Codecov by Sentry. |
* Add JointModel::satisfiesAccelerationBounds() * Check Jerk bounds too * Check if bounds exist --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Description
This is a port of this MoveIt1 PR: moveit/moveit#3396
We already have versions for satisfiesPositionBounds() and satisfiesVelocityBounds(), why not Acceleration and Jerk too?