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handle continuous joints in getLowerAndUpperLimits (backport #3153) #3155

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Dec 11, 2024
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handle continuous joints in getLowerAndUpperLimits (backport #3153) #3155

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6 changes: 4 additions & 2 deletions moveit_core/robot_model/include/moveit/robot_model/joint_model_group.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -588,8 +588,10 @@ class JointModelGroup

/**
* @brief Get the lower and upper position limits of all active variables in the group.
*
* @return std::pair<Eigen::VectorXd, Eigen::VectorXd> Containing the lower and upper joint limits for all active variables.
* @details In the case of variable without position bounds (e.g. continuous joints), the lower and upper limits are
* set to infinity.
* @return std::pair<Eigen::VectorXd, Eigen::VectorXd> Containing the lower and upper joint limits for all active
* variables.
*/
[[nodiscard]] std::pair<Eigen::VectorXd, Eigen::VectorXd> getLowerAndUpperLimits() const;

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6 changes: 4 additions & 2 deletions moveit_core/robot_model/src/joint_model_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -842,8 +842,10 @@ std::pair<Eigen::VectorXd, Eigen::VectorXd> JointModelGroup::getLowerAndUpperLim
{
for (const moveit::core::VariableBounds& variable_bounds : *joint_bounds)
{
lower_limits[variable_index] = variable_bounds.min_position_;
upper_limits[variable_index] = variable_bounds.max_position_;
lower_limits[variable_index] =
variable_bounds.position_bounded_ ? variable_bounds.min_position_ : -std::numeric_limits<double>::infinity();
upper_limits[variable_index] =
variable_bounds.position_bounded_ ? variable_bounds.max_position_ : std::numeric_limits<double>::infinity();
variable_index++;
}
}
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