Tolerances

What a run must stay inside, as joint_trajectory_controller states it.

Full docstring

- `path`: limits that must hold at every sample while the reference is running; a breach ends
  the check (JTC aborts the goal). `goal`: limits that must hold once the reference has ended.
  Each is a tuple of `JointTolerance`, or one `PoseTolerance` for a `PoseTrajectory`.
- `goal_time_tolerance` (s after the reference ends): the goal must be met within it; 0 means
  wait as long as the data lasts (JTC: "potentially infinite").
- `stopped_velocity_tolerance`: JTC's default goal velocity limit, applied to EVERY joint's
  measured ``|velocity|`` (a pose: ``|linear velocity|``) unless that joint's goal
  `JointTolerance.velocity` is above 0. It only applies when `goal` has a limit of its own,
  and a measured run with no velocities skips it and says so in `Outcome.unchecked`.

Import

from robot_msgs.compare import Tolerances

ROS 2no ROS equivalent

Fields

Name	Type	Default
`path`	`tuple[JointTolerance, ...] \| PoseTolerance`	`()`
`goal`	`tuple[JointTolerance, ...] \| PoseTolerance`	`()`
`goal_time_tolerance`	`float`	`0.0`
`stopped_velocity_tolerance`	`float`	`0.01`

Example

One instance from the package's own test catalog; the output is its real repr().

Tolerances(path=(JointTolerance(name='j1', position=0.01, velocity=0.0, acceleration=0.0), JointTolerance(name='j2', position=0.05, velocity=0.0, acceleration=0.0)), goal=(JointTolerance(name='j1', position=0.01, velocity=0.05, acceleration=0.0),), goal_time_tolerance=0.5, stopped_velocity_tolerance=0.01)

to_dict() as JSON

{
  "_type": "compare/Tolerances",
  "path": [
    {
      "_type": "compare/JointTolerance",
      "name": "j1",
      "position": 0.01,
      "velocity": 0.0,
      "acceleration": 0.0
    },
    {
      "_type": "compare/JointTolerance",
      "name": "j2",
      "position": 0.05,
      "velocity": 0.0,
      "acceleration": 0.0
    }
  ],
  "goal": [
    {
      "_type": "compare/JointTolerance",
      "name": "j1",
      "position": 0.01,
      "velocity": 0.05,
      "acceleration": 0.0
    }
  ],
  "goal_time_tolerance": 0.5,
  "stopped_velocity_tolerance": 0.01
}