JointConstraint.joint_constraints_from_configuration

classmethod JointConstraint.joint_constraints_from_configuration(configuration, tolerances_above, tolerances_below)[source]

Create joint constraints for all joints of the configuration. One constraint is created for each joint.

Parameters:

configuration: :class:`Configuration`: The target configuration.
tolerances_above: :obj:`list` of :obj:`float`: The tolerances above the targeted configuration’s joint value on each of the joints, defining the upper bound in radians to be achieved. If only one value is passed in the list, it will be used to create upper bounds for all joint constraints.
tolerances_below: :obj:`list` of :obj:`float`: The tolerances below the targeted configuration’s joint value on each of the joints, defining the upper bound in radians to be achieved. If only one value is passed, it will be used to create lower bounds for all joint constraints.

Returns:

Raises:

ValueError: If the passed configuration does not have joint names.
ValueError: If the passed list of tolerance values have a different length than the configuration.

Notes

Make sure that you are using the correct tolerance units if your robot has different joint types defined.