Throwing Exceptions on undefined vel and acc limits

[Lars-Peter Ellekilde]

Hi
Right not we assign default values to velocity and acceleration limits
if not defined in the device file. I am starting to think that it
might be better to throw an exception if a user requests vel and acc
limits when not defined. Otherwise we might risk running an
application with unrealistic joint velocities, which may lead to
undesired behaviors.

What do you think about this suggestion?

- Lars-Peter

[Jimmy Alison Jørgensen]

Hey thats fine by me. Should the workcell loader warn if these values are not set then?

Best regards

Jimmy Alison Jørgensen
PhD Student, The Maersk Mc-Kinney Moller Institute

Tel. +45 6550 3548
Fax +45 6550 3681
Email jim...@mmmi.sdu.dk
Web http://www.mip.sdu.dk
Addr. Niels Bohrs Allé 1, DK-5230 Odense M, Denmark

UNIVERSITY OF SOUTHERN DENMARK
_______________________________________________________________
Campusvej 55 * DK-5230 * Odense M * Denmark * Tel. +45 6550 1000 * www.sdu.dk

[lpell...@gmail.com]

I do not think the workcell loader should warn, because in many cases it is perfectly OK to have a device without velocity and acceleration limits. However, if the user tries to use them when not defined, there should be some serious message (an exception) to notify him.

- Lars-Peter