Merge validation functions

Use the same validation function for most primitives, while providing
a specialized validation function for spline primitives.

Author: urfeex

include/ur_client_library/control/motion_primitives.h

@@ -87,7 +87,6 @@ struct MoveJPrimitive : public MotionPrimitive
     this->blend_radius = blend_radius;
   }
 
-  bool validate() const override;
   urcl::vector6d_t target_joint_configuration;
 };
 
@@ -105,8 +104,6 @@ struct MoveLPrimitive : public MotionPrimitive
     this->blend_radius = blend_radius;
   }
 
-  bool validate() const override;
-
   urcl::Pose target_pose;
 };
 
@@ -122,8 +119,6 @@ struct MovePPrimitive : public MotionPrimitive
     this->blend_radius = blend_radius;
   }
 
-  bool validate() const override;
-
   urcl::Pose target_pose;
 };
 
@@ -141,8 +136,6 @@ struct MoveCPrimitive : public MotionPrimitive
     this->mode = mode;
   }
 
-  bool validate() const override;
-
   urcl::Pose via_point_pose;
   urcl::Pose target_pose;
   int32_t mode = 0;
@@ -172,6 +165,9 @@ struct SplinePrimitive : public MotionPrimitive
       return control::TrajectorySplineType::SPLINE_CUBIC;
     }
   }
+
+  bool validate() const override;
+
   vector6d_t target_positions;
   vector6d_t target_velocities;
   std::optional<vector6d_t> target_accelerations;
@@ -189,9 +185,9 @@ struct OptimoveJPrimitive : public MotionPrimitive
     this->velocity = velocity_fraction;
   }
 
-  urcl::vector6d_t target_joint_configuration;
-
   bool validate() const override;
+
+  urcl::vector6d_t target_joint_configuration;
 };
 
 struct OptimoveLPrimitive : public MotionPrimitive

src/control/motion_primitives.cpp

@@ -41,83 +41,28 @@ bool MotionPrimitive::validate() const
     URCL_LOG_ERROR("Negative blend radius passed to motion primitive. This is not allowed.");
     return false;
   }
-  return true;
-}
-bool MoveJPrimitive::validate() const
-{
-  if (!MotionPrimitive::validate())
-  {
-    return false;
-  }
-  if (acceleration < 0)
-  {
-    URCL_LOG_ERROR("Negative acceleration passed to MoveJ primitive. This is not allowed.");
-    return false;
-  }
-  if (velocity < 0)
-  {
-    URCL_LOG_ERROR("Negative velocity passed to MoveJ primitive. This is not allowed.");
-    return false;
-  }
-  return true;
-}
-
-bool MoveLPrimitive::validate() const
-{
-  if (!MotionPrimitive::validate())
-  {
-    return false;
-  }
-  if (acceleration < 0)
-  {
-    URCL_LOG_ERROR("Negative acceleration passed to MoveL primitive. This is not allowed.");
-    return false;
-  }
-  if (velocity < 0)
-  {
-    URCL_LOG_ERROR("Negative velocity passed to MoveL primitive. This is not allowed.");
-    return false;
-  }
-  return true;
-}
-bool MovePPrimitive::validate() const
-{
-  if (!MotionPrimitive::validate())
-  {
-    return false;
-  }
   if (acceleration < 0)
   {
-    URCL_LOG_ERROR("Negative acceleration passed to MoveP primitive. This is not allowed.");
+    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 MoveP primitive. This is not allowed.");
+    URCL_LOG_ERROR("Negative velocity passed to motion primitive. This is not allowed.");
     return false;
   }
   return true;
 }
 
-bool MoveCPrimitive::validate() const
+bool SplinePrimitive::validate() const
 {
-  if (!MotionPrimitive::validate())
-  {
-    return false;
-  }
-  if (acceleration < 0)
-  {
-    URCL_LOG_ERROR("Negative acceleration passed to MoveC primitive. This is not allowed.");
-    return false;
-  }
-  if (velocity < 0)
+  if (duration <= 0)
   {
-    URCL_LOG_ERROR("Negative velocity passed to MoveC primitive. This is not allowed.");
+    URCL_LOG_ERROR("Duration must be greater than zero.");
     return false;
   }
   return true;
 }
-
 bool OptimoveJPrimitive::validate() const
 {
   if (!MotionPrimitive::validate())