Bounding

Bounding Objectives limit the space within which joints can assume angles and links can move or be oriented.

Objective	Goals	Description
Position Bounding	Ellipse	Place the position of a link within a rotated ellipsoid
Orientation Bounding	RotationRange	A region in orientation space with some delta around an orientation
Joint Bounding	JointBounding	Limits the maximum and minimum values of a given joint

Parameters for constructing Bounding Objectives

Parameter	Objectives	Type	Optional	Defauly value/behavior	Description
name	all of the objectives mentioned above	string	no	none	Name can be arbitrary and should be unqiue
weight	all of the objectives mentioned above	float	no	none	Indicates the prioritization of the objective
link	all of the objectives mentioned above	string	no	none	The name of the link this objective is applied to
goal	all of the objectives mentioned above	Goal	yes	origin for Translation, no rotation for Rotation, and 0 for both maximum and minimum for JointBounding	The goal for objectives to achieve