//==============================================================================
bool Joint::checkSanity(bool _printWarnings) const
{
bool sane = true;
for(std::size_t i=0; i < getNumDofs(); ++i)
{
if(getInitialPosition(i) < getPositionLowerLimit(i)
|| getPositionUpperLimit(i) < getInitialPosition(i))
{
if(_printWarnings)
{
dtwarn << "[Joint::checkSanity] Initial position of index " << i << " ["
<< getDofName(i) << "] in Joint [" << getName() << "] is "
<< "outside of its position limits\n"
<< " -- Initial Position: " << getInitialPosition(i) << "\n"
<< " -- Limits: [" << getPositionLowerLimit(i) << ", "
<< getPositionUpperLimit(i) << "]\n";
}
else
{
return false;
}
sane = false;
}
if(getInitialVelocity(i) < getVelocityLowerLimit(i)
|| getVelocityUpperLimit(i) < getInitialVelocity(i))
{
if(_printWarnings)
{
dtwarn << "[Joint::checkSanity] Initial velocity of index " << i << " ["
<< getDofName(i) << "] is Joint [" << getName() << "] is "
<< "outside of its velocity limits\n"
<< " -- Initial Velocity: " << getInitialVelocity(i) << "\n"
<< " -- Limits: [" << getVelocityLowerLimit(i) << ", "
<< getVelocityUpperLimit(i) << "]\n";
}
else
{
return false;
}
sane = false;
}
}
return sane;
}
//==============================================================================
std::pair<double,double> DegreeOfFreedom::getVelocityLimits() const
{
return std::pair<double,double>(getVelocityLowerLimit(),
getVelocityUpperLimit());
}