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aica-technology · Oct 28, 2024 · f6460f6 · f6460f6
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diff --git a/versions/rolling/_model_8cpp_source.html b/versions/rolling/_model_8cpp_source.html
diff --git a/versions/rolling/_model_8hpp_source.html b/versions/rolling/_model_8hpp_source.html
diff --git a/versions/rolling/bind__model_8cpp_source.html b/versions/rolling/bind__model_8cpp_source.html
diff --git a/versions/rolling/classrobot__model_1_1_model-members.html b/versions/rolling/classrobot__model_1_1_model-members.html
diff --git a/versions/rolling/classrobot__model_1_1_model.html b/versions/rolling/classrobot__model_1_1_model.html
@@ -206,6 +206,9 @@
 <tr class="memitem:ae7b54872ed5a27e5e67af758dfab2470" id="r_ae7b54872ed5a27e5e67af758dfab2470"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrobot__model_1_1_model.html#ae7b54872ed5a27e5e67af758dfab2470">in_range</a> (const <a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a> &amp;joint_state) const</td></tr>
 <tr class="memdesc:ae7b54872ed5a27e5e67af758dfab2470"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the joint state variables (positions, velocities &amp; torques) are inside the limits provided by the model.  <br /></td></tr>
 <tr class="separator:ae7b54872ed5a27e5e67af758dfab2470"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9412dcb23238248a93b2550973526cd" id="r_aa9412dcb23238248a93b2550973526cd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrobot__model_1_1_model.html#aa9412dcb23238248a93b2550973526cd">clamp_in_range</a> (const <a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a> &amp;joint_state, const <a class="el" href="namespacestate__representation.html#a65e64875cc8437e40b1debd7ae30bcdc">state_representation::JointStateVariable</a> &amp;state_variable_type) const</td></tr>
+<tr class="memdesc:aa9412dcb23238248a93b2550973526cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clamp the joint state variables of a JointStateVariable according to the limits provided by the model.  <br /></td></tr>
+<tr class="separator:aa9412dcb23238248a93b2550973526cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a7be997ecd9d9fde596d183c01afb72e4" id="r_a7be997ecd9d9fde596d183c01afb72e4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrobot__model_1_1_model.html#a7be997ecd9d9fde596d183c01afb72e4">clamp_in_range</a> (const <a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a> &amp;joint_state) const</td></tr>
 <tr class="memdesc:a7be997ecd9d9fde596d183c01afb72e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clamp the joint state variables (positions, velocities &amp; torques) according to the limits provided by the model.  <br /></td></tr>
 <tr class="separator:a7be997ecd9d9fde596d183c01afb72e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -393,7 +396,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0926679214afe9b56835b8bb
 </div>
 </div>
 <a id="a7be997ecd9d9fde596d183c01afb72e4" name="a7be997ecd9d9fde596d183c01afb72e4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7be997ecd9d9fde596d183c01afb72e4">&#9670;&#160;</a></span>clamp_in_range()</h2>
+<h2 class="memtitle"><span class="permalink"><a href="#a7be997ecd9d9fde596d183c01afb72e4">&#9670;&#160;</a></span>clamp_in_range() <span class="overload">[1/2]</span></h2>
 
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@@ -417,6 +420,46 @@ <h2 class="memtitle"><span class="permalink"><a href="#a7be997ecd9d9fde596d183c0
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>the clamped joint states </dd></dl>
 
+<p class="definition">Definition at line <a class="el" href="_model_8cpp_source.html#l00690">690</a> of file <a class="el" href="_model_8cpp_source.html">Model.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa9412dcb23238248a93b2550973526cd" name="aa9412dcb23238248a93b2550973526cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9412dcb23238248a93b2550973526cd">&#9670;&#160;</a></span>clamp_in_range() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a> robot_model::Model::clamp_in_range </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classstate__representation_1_1_joint_state.html">state_representation::JointState</a> &amp;&#160;</td>
+          <td class="paramname"><em>joint_state</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="namespacestate__representation.html#a65e64875cc8437e40b1debd7ae30bcdc">state_representation::JointStateVariable</a> &amp;&#160;</td>
+          <td class="paramname"><em>state_variable_type</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clamp the joint state variables of a JointStateVariable according to the limits provided by the model. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">joint_state</td><td>the joint state to be clamped </td></tr>
+    <tr><td class="paramname">state_variable_type</td><td>the type of the joint state variable to be clamped </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the clamped joint states </dd></dl>
+
 <p class="definition">Definition at line <a class="el" href="_model_8cpp_source.html#l00664">664</a> of file <a class="el" href="_model_8cpp_source.html">Model.cpp</a>.</p>
 
 </div>
@@ -916,7 +959,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a46bce3b2c4637e0b2a8073b4
 <p>Getter of the base frame of the robot. </p>
 <dl class="section return"><dt>Returns</dt><dd>the base frame </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00593">593</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00601">601</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
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@@ -946,7 +989,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab320c678215702c2d5914751
 <p>Getter of the frames from the model. </p>
 <dl class="section return"><dt>Returns</dt><dd>the frame names </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00597">597</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00605">605</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
 </div>
@@ -976,7 +1019,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a21a840923652e2f0e6322aa8
 <p>Getter of the gravity vector. </p>
 <dl class="section return"><dt>Returns</dt><dd>Eigen::Vector3d the gravity vector </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00601">601</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00609">609</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
 </div>
@@ -1006,7 +1049,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#afeb374a08a80c966b1cb8162
 <p>Getter of the joint frames from the model. </p>
 <dl class="section return"><dt>Returns</dt><dd>the joint frames </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00587">587</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00595">595</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
 </div>
@@ -1058,7 +1101,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a0d4db9de0afa5abd5d91a6f7
 <p>Getter of the number of joints. </p>
 <dl class="section return"><dt>Returns</dt><dd>the number of joints </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00583">583</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00591">591</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
 </div>
@@ -1088,7 +1131,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ae4d7604f19f3c50440e30c47
 <p>Getter of the pinocchio model. </p>
 <dl class="section return"><dt>Returns</dt><dd>the pinocchio model </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00609">609</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00617">617</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
 </div>
@@ -1118,7 +1161,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#af61dbba20ae102d89ea3d55e
 <p>Getter of the robot name. </p>
 <dl class="section return"><dt>Returns</dt><dd>the robot name </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00551">551</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00559">559</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
 </div>
@@ -1148,7 +1191,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aadd4b1b177ab0f1092832d6d
 <p>Getter of the URDF path. </p>
 <dl class="section return"><dt>Returns</dt><dd>the URDF path </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00579">579</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00587">587</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
 </div>
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@@ -1642,7 +1685,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1aa9638f0f6721b4a4e89e78
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>reference to the current model with new values </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00569">569</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00577">577</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
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@@ -1678,7 +1721,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a66c2859b36ad7dd4228b2f0e
   </dd>
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-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00605">605</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00613">613</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
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@@ -1714,7 +1757,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab3a411afa7d1c389c6b363c6
   </dd>
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-<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00575">575</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00583">583</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
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@@ -1762,7 +1805,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8bbe7088dd473777c87fc59a
   </dd>
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+<p class="definition">Definition at line <a class="el" href="_model_8hpp_source.html#l00563">563</a> of file <a class="el" href="_model_8hpp_source.html">Model.hpp</a>.</p>
 
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diff --git a/versions/rolling/functions_c.html b/versions/rolling/functions_c.html
@@ -74,15 +74,15 @@
 <h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
 <li>CartesianAcceleration()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_acceleration.html#a9107b9d23e5d7f86c9e64d0bce7ad83e">state_representation::CartesianAcceleration</a></li>
 <li>CartesianPose()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_pose.html#a5ea7ea6c1a901133f34768e28ff53185">state_representation::CartesianPose</a></li>
-<li>CartesianState()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_state.html#a6b907a7a60bcb90c68684a6bad9b153f">state_representation::CartesianState</a></li>
+<li>CartesianState()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_state.html#ae185cd6c37269016ed10d84627f2d0c6">state_representation::CartesianState</a></li>
 <li>CartesianTwist()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_twist.html#ab9bb720de98f4c35891a823cffb84ca9">state_representation::CartesianTwist</a></li>
 <li>CartesianWrench()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_wrench.html#aa1d53483836ac7ea6e572ee856886294">state_representation::CartesianWrench</a></li>
 <li>check_collision()&#160;:&#160;<a class="el" href="classrobot__model_1_1_model.html#a0926679214afe9b56835b8bb62cbe3f2">robot_model::Model</a></li>
 <li>Circular()&#160;:&#160;<a class="el" href="classdynamical__systems_1_1_circular.html#aa6f0879ef85ec83a45465b48b733459d">dynamical_systems::Circular</a></li>
 <li>clamp()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_acceleration.html#a014bbda4a2db4ffca841041a172583fd">state_representation::CartesianAcceleration</a>, <a class="el" href="classstate__representation_1_1_cartesian_twist.html#aa6b1a54c0ee94bb39b329d67fa7138b4">state_representation::CartesianTwist</a>, <a class="el" href="classstate__representation_1_1_cartesian_wrench.html#ab7aecb31632175ae942ac499dc53ac89">state_representation::CartesianWrench</a>, <a class="el" href="classstate__representation_1_1_joint_accelerations.html#a9808a11813fc4b039e86dafa6f2b6eee">state_representation::JointAccelerations</a>, <a class="el" href="classstate__representation_1_1_joint_positions.html#a0d71865e2304e1a1ff9e3699b686885b">state_representation::JointPositions</a>, <a class="el" href="classstate__representation_1_1_joint_torques.html#a45b8997d59ad9b2a99e23b23de3babde">state_representation::JointTorques</a>, <a class="el" href="classstate__representation_1_1_joint_velocities.html#ad7c6ab203b74b9349649e2cd83979112">state_representation::JointVelocities</a></li>
-<li>clamp_in_range()&#160;:&#160;<a class="el" href="classrobot__model_1_1_model.html#a7be997ecd9d9fde596d183c01afb72e4">robot_model::Model</a></li>
+<li>clamp_in_range()&#160;:&#160;<a class="el" href="classrobot__model_1_1_model.html#aa9412dcb23238248a93b2550973526cd">robot_model::Model</a></li>
 <li>clamp_state_variable()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_state.html#a7f565718082645b493c2449006101b7a">state_representation::CartesianState</a>, <a class="el" href="classstate__representation_1_1_joint_state.html#a46bb1912fa2d1cbede60dc97f6511a06">state_representation::JointState</a></li>
-<li>clamped()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_acceleration.html#a62973eedd9e423539926454c212c4dbc">state_representation::CartesianAcceleration</a>, <a class="el" href="classstate__representation_1_1_cartesian_twist.html#a5e1e46b20f7ce4ad4eb523abb9180718">state_representation::CartesianTwist</a>, <a class="el" href="classstate__representation_1_1_cartesian_wrench.html#a4a71429763d3bea299341aebe820e3c7">state_representation::CartesianWrench</a>, <a class="el" href="classstate__representation_1_1_joint_accelerations.html#a5a52999e6f74b01cc970f0fb3d1ce594">state_representation::JointAccelerations</a>, <a class="el" href="classstate__representation_1_1_joint_positions.html#a68bb6d87899eb441cb864e700229e1e1">state_representation::JointPositions</a>, <a class="el" href="classstate__representation_1_1_joint_torques.html#a7699c2de2f21e91f69621d151c419d58">state_representation::JointTorques</a>, <a class="el" href="classstate__representation_1_1_joint_velocities.html#a88ddadbe567a4dc98f105379a61f267e">state_representation::JointVelocities</a></li>
+<li>clamped()&#160;:&#160;<a class="el" href="classstate__representation_1_1_cartesian_acceleration.html#a62973eedd9e423539926454c212c4dbc">state_representation::CartesianAcceleration</a>, <a class="el" href="classstate__representation_1_1_cartesian_twist.html#a5e1e46b20f7ce4ad4eb523abb9180718">state_representation::CartesianTwist</a>, <a class="el" href="classstate__representation_1_1_cartesian_wrench.html#a4a71429763d3bea299341aebe820e3c7">state_representation::CartesianWrench</a>, <a class="el" href="classstate__representation_1_1_joint_accelerations.html#a5a52999e6f74b01cc970f0fb3d1ce594">state_representation::JointAccelerations</a>, <a class="el" href="classstate__representation_1_1_joint_positions.html#aa21d5fec25c7d34d00bcb6d8d1434cb0">state_representation::JointPositions</a>, <a class="el" href="classstate__representation_1_1_joint_torques.html#a7699c2de2f21e91f69621d151c419d58">state_representation::JointTorques</a>, <a class="el" href="classstate__representation_1_1_joint_velocities.html#a88ddadbe567a4dc98f105379a61f267e">state_representation::JointVelocities</a></li>
 <li>clear()&#160;:&#160;<a class="el" href="classstate__representation_1_1_trajectory.html#af6ac5b6327314184cc019851e573b999">state_representation::Trajectory&lt; StateT &gt;</a></li>
 <li>close()&#160;:&#160;<a class="el" href="classcommunication__interfaces_1_1sockets_1_1_i_socket.html#aff718530275ec30f22aed187b9500b16">communication_interfaces::sockets::ISocket</a></li>
 <li>col()&#160;:&#160;<a class="el" href="classstate__representation_1_1_jacobian.html#acb852209ce506c20ce4ed0c011ff9cd5">state_representation::Jacobian</a></li>