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ConstrainedJointAngles.md

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class ConstrainedJointAngles

Member values

Member name Data type Description
joint_angles JointAngles Joint angles values
constraint JointTrajectoryConstraint Constraint to apply to all the joint angles (optional)

Member functions

Function name Return type Input type Description
has_joint_angles() const bool void Returns true if joint_angles is set.
joint_angles() const JointAngles& void Returns the current value of joint_angles. If joint_angles is not set, returns a JointAngles with none of its fields set (possibly joint_angles::default_instance()).
mutable_joint_angles() JointAngles * void Returns a pointer to the mutable JointAngles object that stores the field's value. If the field was not set prior to the call, then the returned JointAngles will have none of its fields set (i.e. it will be identical to a newly-allocated JointAngles). After calling this, has_joint_angles() will return true and joint_angles() will return a reference to the same instance of JointAngles.
clear_joint_angles() void void Clears the value of the field. After calling this, has_joint_angles() will return false and joint_angles() will return the default value.
set_allocated_joint_angles() void JointAngles * Sets the JointAngles object to the field and frees the previous field value if it exists. If the JointAngles pointer is not NULL, the message takes ownership of the allocated JointAngles object and has_ JointAngles() will return true. Otherwise, if the joint_angles is NULL, the behavior is the same as calling clear_joint_angles().
release_joint_angles() JointAngles * void Releases the ownership of the field and returns the pointer of the JointAngles object. After calling this, caller takes the ownership of the allocated JointAngles object, has_joint_angles() will return false, and joint_angles() will return the default value.
has_constraint() const bool void Returns true if constraint is set.
constraint() const JointTrajectoryConstraint& void Returns the current value of constraint. If constraint is not set, returns a JointTrajectoryConstraint with none of its fields set (possibly constraint::default_instance()).
mutable_constraint() JointTrajectoryConstraint * void Returns a pointer to the mutable JointTrajectoryConstraint object that stores the field's value. If the field was not set prior to the call, then the returned JointTrajectoryConstraint will have none of its fields set (i.e. it will be identical to a newly-allocated JointTrajectoryConstraint). After calling this, has_constraint() will return true and constraint() will return a reference to the same instance of JointTrajectoryConstraint.
clear_constraint() void void Clears the value of the field. After calling this, has_constraint() will return false and constraint() will return the default value.
set_allocated_constraint() void JointTrajectoryConstraint * Sets the JointTrajectoryConstraint object to the field and frees the previous field value if it exists. If the JointTrajectoryConstraint pointer is not NULL, the message takes ownership of the allocated JointTrajectoryConstraint object and has_ JointTrajectoryConstraint() will return true. Otherwise, if the constraint is NULL, the behavior is the same as calling clear_constraint().
release_constraint() JointTrajectoryConstraint * void Releases the ownership of the field and returns the pointer of the JointTrajectoryConstraint object. After calling this, caller takes the ownership of the allocated JointTrajectoryConstraint object, has_constraint() will return false, and constraint() will return the default value.

Parent topic: Base (C++)