bool SimoxRobotViewer::setJointLimits( const std::string &robotNodeSet, std::vector<float> &min, std::vector<float> &max )
{
if (!robot)
{
VR_ERROR << "No robot..." << endl;
return false;
}
lock();
RobotNodeSetPtr rns = robot->getRobotNodeSet(robotNodeSet);
if (!rns)
{
VR_ERROR << "No robot node set with name " << robotNodeSet << endl;
unlock();
return false;
}
if (rns->getSize()!=min.size() || rns->getSize()!=max.size())
{
VR_ERROR << "Wrong sizes. RNS (" << robotNodeSet << ") : " << rns->getSize() <<", minSize:" << min.size() << ", maxSize:" << max.size() << endl;
unlock();
return false;
}
for (size_t i=0;i<min.size();i++)
{
RobotNodePtr rn = rns->getNode(i);
if (!rn)
return false;
rn->setJointLimits(min[i],max[i]);
}
unlock();
return true;
}
bool SimoxRobotViewer::setJointLimit( const std::string &robotNode, float min, float max )
{
if (!robot)
{
VR_ERROR << "No robot..." << endl;
return false;
}
lock();
RobotNodePtr rn = robot->getRobotNode(robotNode);
if (!rn)
{
VR_ERROR << "No robot node with name " << robotNode << endl;
unlock();
return false;
}
rn->setJointLimits(min,max);
unlock();
return true;
}
