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Makes franka::Error trivially copyable #88

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Makes franka::Error trivially copyable #88

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80c5f55
copied changes to 0.7.1
samzapo Dec 4, 2020
0049e1d
fixed build errors
samzapo Dec 4, 2020
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85 changes: 44 additions & 41 deletions include/franka/errors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,20 +17,23 @@ namespace franka {
*/
struct Errors {
private:
std::array<bool, 37> errors_{};
static constexpr int kMaxNumErrors = 37;
std::array<bool, kMaxNumErrors> errors_{};

public:
const std::array<bool, kMaxNumErrors>& errors() const { return errors_; }

/**
* Creates an empty Errors instance.
*/
Errors();
Errors() = default;

/**
* Copy constructs a new Errors instance.
*
* @param[in] other Other Errors instance.
*/
Errors(const Errors& other);
Errors(const Errors& other) = default;

/**
* Assigns this Errors instance from another Errors value.
Expand All @@ -39,7 +42,7 @@ struct Errors {
*
* @return Errors instance.
*/
Errors& operator=(Errors other);
Errors& operator=(const Errors& other) = default;

/**
* Creates a new Errors instance from the given array.
Expand Down Expand Up @@ -67,166 +70,166 @@ struct Errors {
/**
* True if the robot moved past the joint limits.
*/
const bool& joint_position_limits_violation;
const bool& joint_position_limits_violation() const;
/**
* True if the robot moved past any of the virtual walls.
*/
const bool& cartesian_position_limits_violation;
const bool& cartesian_position_limits_violation() const;
/**
* True if the robot would have collided with itself.
*/
const bool& self_collision_avoidance_violation;
const bool& self_collision_avoidance_violation() const;
/**
* True if the robot exceeded joint velocity limits.
*/
const bool& joint_velocity_violation;
const bool& joint_velocity_violation() const;
/**
* True if the robot exceeded Cartesian velocity limits.
*/
const bool& cartesian_velocity_violation;
const bool& cartesian_velocity_violation() const;
/**
* True if the robot exceeded safety threshold during force control.
*/
const bool& force_control_safety_violation;
const bool& force_control_safety_violation() const;
/**
* True if a collision was detected, i.e.\ the robot exceeded a torque threshold in a joint
* motion.
*/
const bool& joint_reflex;
const bool& joint_reflex() const;
/**
* True if a collision was detected, i.e.\ the robot exceeded a torque threshold in a Cartesian
* motion.
*/
const bool& cartesian_reflex;
const bool& cartesian_reflex() const;
/**
* True if internal motion generator did not reach the goal pose.
*/
const bool& max_goal_pose_deviation_violation;
const bool& max_goal_pose_deviation_violation() const;
/**
* True if internal motion generator deviated from the path.
*/
const bool& max_path_pose_deviation_violation;
const bool& max_path_pose_deviation_violation() const;
/**
* True if Cartesian velocity profile for internal motions was exceeded.
*/
const bool& cartesian_velocity_profile_safety_violation;
const bool& cartesian_velocity_profile_safety_violation() const;
/**
* True if an external joint position motion generator was started with a pose too far from the
* current pose.
*/
const bool& joint_position_motion_generator_start_pose_invalid;
const bool& joint_position_motion_generator_start_pose_invalid() const;
/**
* True if an external joint motion generator would move into a joint limit.
*/
const bool& joint_motion_generator_position_limits_violation;
const bool& joint_motion_generator_position_limits_violation() const;
/**
* True if an external joint motion generator exceeded velocity limits.
*/
const bool& joint_motion_generator_velocity_limits_violation;
const bool& joint_motion_generator_velocity_limits_violation() const;
/**
* True if commanded velocity in joint motion generators is discontinuous (target values are too
* far apart).
*/
const bool& joint_motion_generator_velocity_discontinuity;
const bool& joint_motion_generator_velocity_discontinuity() const;
/**
* True if commanded acceleration in joint motion generators is discontinuous (target values are
* too far apart).
*/
const bool& joint_motion_generator_acceleration_discontinuity;
const bool& joint_motion_generator_acceleration_discontinuity() const;
/**
* True if an external Cartesian position motion generator was started with a pose too far from
* the current pose.
*/
const bool& cartesian_position_motion_generator_start_pose_invalid;
const bool& cartesian_position_motion_generator_start_pose_invalid() const;
/**
* True if an external Cartesian motion generator would move into an elbow limit.
*/
const bool& cartesian_motion_generator_elbow_limit_violation;
const bool& cartesian_motion_generator_elbow_limit_violation() const;
/**
* True if an external Cartesian motion generator would move with too high velocity.
*/
const bool& cartesian_motion_generator_velocity_limits_violation;
const bool& cartesian_motion_generator_velocity_limits_violation() const;
/**
* True if commanded velocity in Cartesian motion generators is discontinuous (target values are
* too far apart).
*/
const bool& cartesian_motion_generator_velocity_discontinuity;
const bool& cartesian_motion_generator_velocity_discontinuity() const;
/**
* True if commanded acceleration in Cartesian motion generators is discontinuous (target values
* are too far apart).
*/
const bool& cartesian_motion_generator_acceleration_discontinuity;
const bool& cartesian_motion_generator_acceleration_discontinuity() const;
/**
* True if commanded elbow values in Cartesian motion generators are inconsistent.
*/
const bool& cartesian_motion_generator_elbow_sign_inconsistent;
const bool& cartesian_motion_generator_elbow_sign_inconsistent() const;
/**
* True if the first elbow value in Cartesian motion generators is too far from initial one.
*/
const bool& cartesian_motion_generator_start_elbow_invalid;
const bool& cartesian_motion_generator_start_elbow_invalid() const;
/**
* True if the joint position limits would be exceeded after IK calculation.
*/
const bool& cartesian_motion_generator_joint_position_limits_violation;
const bool& cartesian_motion_generator_joint_position_limits_violation() const;
/**
* True if the joint velocity limits would be exceeded after IK calculation.
*/
const bool& cartesian_motion_generator_joint_velocity_limits_violation;
const bool& cartesian_motion_generator_joint_velocity_limits_violation() const;
/**
* True if the joint velocity in Cartesian motion generators is discontinuous after IK
* calculation.
*/
const bool& cartesian_motion_generator_joint_velocity_discontinuity;
const bool& cartesian_motion_generator_joint_velocity_discontinuity() const;
/**
* True if the joint acceleration in Cartesian motion generators is discontinuous after IK
* calculation.
*/
const bool& cartesian_motion_generator_joint_acceleration_discontinuity;
const bool& cartesian_motion_generator_joint_acceleration_discontinuity() const;
/**
* True if the Cartesian pose is not a valid transformation matrix.
*/
const bool& cartesian_position_motion_generator_invalid_frame;
const bool& cartesian_position_motion_generator_invalid_frame() const;
/**
* True if desired force exceeds the safety thresholds.
*/
const bool& force_controller_desired_force_tolerance_violation;
const bool& force_controller_desired_force_tolerance_violation() const;
/**
* True if the torque set by the external controller is discontinuous.
*/
const bool& controller_torque_discontinuity;
const bool& controller_torque_discontinuity() const;
/**
* True if the start elbow sign was inconsistent.
*
* Applies only to motions started from Desk.
*/
const bool& start_elbow_sign_inconsistent;
const bool& start_elbow_sign_inconsistent() const;
/**
* True if minimum network communication quality could not be held during a motion.
*/
const bool& communication_constraints_violation;
const bool& communication_constraints_violation() const;
/**
* True if commanded values would result in exceeding the power limit.
*/
const bool& power_limit_violation;
const bool& power_limit_violation() const;
/**
* True if the robot is overloaded for the required motion.
*
* Applies only to motions started from Desk.
*/
const bool& joint_p2p_insufficient_torque_for_planning;
const bool& joint_p2p_insufficient_torque_for_planning() const;
/**
* True if the measured torque signal is out of the safe range.
*/
const bool& tau_j_range_violation;
const bool& tau_j_range_violation() const;
/**
* True if an instability is detected.
*/
const bool& instability_detected;
const bool& instability_detected() const;
/**
* True if the robot is in joint position limits violation error and the user guides the robot
* further towards the limit.
*/
const bool& joint_move_in_wrong_direction;
const bool& joint_move_in_wrong_direction() const;
};

/**
Expand Down
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