pr2_mechanism_model::JointState Class Reference
#include <joint.h>
List of all members.
Public Member Functions |
| void | enforceLimits () |
| | Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
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| void | getLimits (double &effort_low, double &effort_high) |
| | Returns the safety effort limits given the current position and velocity.
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| | JointState () |
| | Constructor.
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Public Attributes |
| bool | calibrated_ |
| | Bool to indicate if the joint has been calibrated or not.
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| double | commanded_effort_ |
| | The effort the joint should apply in Nm or N (write-to variable).
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boost::shared_ptr< const
urdf::Joint > | joint_ |
| | A pointer to the corresponding urdf::Joint from the urdf::Model.
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| JointStatistics | joint_statistics_ |
| double | measured_effort_ |
| | The measured joint effort in Nm or N (read-only variable).
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| double | position_ |
| | The joint position in radians or meters (read-only variable).
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| double | reference_position_ |
| | The position of the optical flag that was used to calibrate this joint.
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| double | velocity_ |
| | The joint velocity in randians/sec or meters/sec (read-only variable).
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Detailed Description
Definition at line 71 of file joint.h.
Constructor & Destructor Documentation
| pr2_mechanism_model::JointState::JointState |
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[inline] |
Constructor.
Definition at line 105 of file joint.h.
Member Function Documentation
| void JointState::enforceLimits |
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) |
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Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
Definition at line 76 of file joint.cpp.
| void JointState::getLimits |
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double & |
effort_low, |
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double & |
effort_high | |
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) |
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Returns the safety effort limits given the current position and velocity.
Definition at line 87 of file joint.cpp.
Member Data Documentation
Bool to indicate if the joint has been calibrated or not.
Definition at line 99 of file joint.h.
The effort the joint should apply in Nm or N (write-to variable).
Definition at line 96 of file joint.h.
The measured joint effort in Nm or N (read-only variable).
Definition at line 90 of file joint.h.
The joint position in radians or meters (read-only variable).
Definition at line 84 of file joint.h.
The position of the optical flag that was used to calibrate this joint.
Definition at line 102 of file joint.h.
The joint velocity in randians/sec or meters/sec (read-only variable).
Definition at line 87 of file joint.h.
The documentation for this class was generated from the following files:
