Expose the validate_motion function and the robot’s lower and upper bounds to Python.#81
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zkingston merged 5 commits intoKavrakiLab:mainfrom Dec 12, 2025
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claytonwramsey
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Dec 12, 2025
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note my one comment but otherwise ok! good to submit when that is done.
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| const bool in_bounds_out = (copy_out <= 1.F).all() and (copy_out >= 0.F).all(); | ||
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| return (not check_bounds or in_bounds_in or in_bounds_out) and |
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should this be (not check_bounds or (in_bounds_in and in_bounds_out))? Since if we are checking the bounds, we want both ends of the transition to be valid.
Also, maybe we should move the calculation of in_bounds_in and in_bounds_out to be gated behind an if statement to save perf where check_bounds is false? It is not a big loss though, so this is probably fine as is.
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