motion_primitives.cpp

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#include <ur_client_library/control/motion_primitives.h>
#include <ur_client_library/log.h>

namespace urcl::control
{

bool MotionPrimitive::validate() const
{
  if (blend_radius < 0)
  {
    URCL_LOG_ERROR("Negative blend radius passed to motion primitive. This is not allowed.");
    return false;
  }
  if (acceleration < 0)
  {
    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 motion primitive. This is not allowed.");
    return false;
  }
  return true;
}

bool SplinePrimitive::validate() const
{
  if (duration <= std::chrono::milliseconds(0))
  {
    URCL_LOG_ERROR("Duration must be greater than zero.");
    return false;
  }
  return true;
}
bool OptimoveJPrimitive::validate() const
{
  if (!MotionPrimitive::validate())
  {
    return false;
  }
  if (acceleration <= 0 || acceleration > 1.0)
  {
    URCL_LOG_ERROR("Acceleration fraction must be in range (0, 1].");
    return false;
  }
  if (velocity <= 0 || velocity > 1.0)
  {
    URCL_LOG_ERROR("Velocity fraction must be in range (0, 1].");
    return false;
  }
  return true;
}

bool OptimoveLPrimitive::validate() const
{
  if (!MotionPrimitive::validate())
  {
    return false;
  }
  if (acceleration <= 0 || acceleration > 1.0)
  {
    URCL_LOG_ERROR("Acceleration fraction must be in range (0, 1].");
    return false;
  }
  if (velocity <= 0 || velocity > 1.0)
  {
    URCL_LOG_ERROR("Velocity fraction must be in range (0, 1].");
    return false;
  }
  return true;
}
}  // namespace urcl::control