control_tools.h

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// Copyright (c) 2019 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once

#include <array>
#include <cmath>
#include <string>

namespace franka {

inline bool isValidElbow(const std::array<double, 2>& elbow) noexcept {
  return elbow[1] == -1.0 || elbow[1] == 1.0;
}

inline bool isHomogeneousTransformation(const std::array<double, 16>& transform) noexcept {
  constexpr double kOrthonormalThreshold = 1e-5;

  if (transform[3] != 0.0 || transform[7] != 0.0 || transform[11] != 0.0 || transform[15] != 1.0) {
    return false;
  }
  for (size_t j = 0; j < 3; ++j) {  // i..column
    if (std::abs(std::sqrt(std::pow(transform[j * 4 + 0], 2) + std::pow(transform[j * 4 + 1], 2) +
                           std::pow(transform[j * 4 + 2], 2)) -
                 1.0) > kOrthonormalThreshold) {
      return false;
    }
  }
  for (size_t i = 0; i < 3; ++i) {  // j..row
    if (std::abs(std::sqrt(std::pow(transform[0 * 4 + i], 2) + std::pow(transform[1 * 4 + i], 2) +
                           std::pow(transform[2 * 4 + i], 2)) -
                 1.0) > kOrthonormalThreshold) {
      return false;
    }
  }
  return true;
}

bool hasRealtimeKernel();

bool setCurrentThreadToHighestSchedulerPriority(std::string* error_message);

}  // namespace franka