use hasBounds terminology instead of isContinuous

TAMS-Group · Jan 26, 2023 · 9f6db75 · 9f6db75
1 parent 2dab231
commit 9f6db75
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/include/bio_ik/robot_info.h b/include/bio_ik/robot_info.h
@@ -56,7 +56,7 @@ class RobotInfo
     std::vector<VariableInfo> variables;
     std::vector<size_t> activeVariables;
     std::vector<moveit::core::JointModel::JointType> variable_joint_types;
-    std::vector<bool> continuous_joints;
+    std::vector<bool> has_bounds;
     moveit::core::RobotModelConstPtr robot_model;
 
     __attribute__((always_inline)) static inline double clamp2(double v, double lo, double hi)
@@ -98,7 +98,7 @@ class RobotInfo
             info.max_velocity_rcp = info.max_velocity > 0.0 ? 1.0 / info.max_velocity : 0.0;
 
             variables.push_back(info);
-            continuous_joints.push_back(!bounded);
+            has_bounds.push_back(!bounded);
         }
 
         for(size_t ivar = 0; ivar < model->getVariableCount(); ivar++)
@@ -122,7 +122,7 @@ class RobotInfo
 
     inline bool isRevolute(size_t variable_index) const { return variable_joint_types[variable_index] == moveit::core::JointModel::REVOLUTE; }
     inline bool isPrismatic(size_t variable_index) const { return variable_joint_types[variable_index] == moveit::core::JointModel::PRISMATIC; }
-    inline bool isContinuous(size_t variable_index) const { return continuous_joints[variable_index]; }
+    inline bool hasBounds(size_t variable_index) const { return has_bounds[variable_index]; }
     inline double getMaxVelocity(size_t i) const { return variables[i].max_velocity; }
     inline double getMaxVelocityRcp(size_t i) const { return variables[i].max_velocity_rcp; }
 };

diff --git a/src/kinematics_plugin.cpp b/src/kinematics_plugin.cpp
@@ -612,7 +612,7 @@ struct BioIKKinematicsPlugin : kinematics::KinematicsBase {
       state[ivar] = v;
 
       // wrap angles that are not continuous
-      if(!robot_info.isContinuous(ivar))
+      if(!robot_info.hasBounds(ivar))
       {
         auto* joint_model = robot_model->getJointOfVariable(ivar);
         joint_model->enforcePositionBounds(state.data() + ivar, joint_model->getVariableBounds());