Add support for jerk limits

tesseract-robotics · May 29, 2024 · 6887ce3 · 6887ce3
1 parent ed4dd2a
commit 6887ce3
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/manipulation/src/manipulation_widget.cpp b/manipulation/src/manipulation_widget.cpp
@@ -544,7 +544,7 @@ void ManipulationWidget::onCartesianTransformChanged(const Eigen::Isometry3d& tr
           }
         }
 
-        if (!tesseract_common::satisfiesPositionLimits<double>(temp_seed, data_->kin_group->getLimits().joint_limits))
+        if (!tesseract_common::satisfiesLimits<double>(temp_seed, data_->kin_group->getLimits().joint_limits))
           temp_seed = seed;
 
         std::unordered_map<std::string, double> state;

diff --git a/scene_graph/src/models/limits_standard_item.cpp b/scene_graph/src/models/limits_standard_item.cpp
@@ -58,5 +58,6 @@ void LimitsStandardItem::ctor()
   appendRow(createStandardItemFloat("effort", limits->effort));
   appendRow(createStandardItemFloat("velocity", limits->velocity));
   appendRow(createStandardItemFloat("acceleration", limits->acceleration));
+  appendRow(createStandardItemFloat("jerk", limits->jerk));
 }
 }  // namespace tesseract_gui