urdf::JointSafety Class Reference

Parameters for Joint Safety Controllers. More...

#include <joint.h>

List of all members.

Public Member Functions
void	clear ()
bool	initXml (TiXmlElement *config)
	JointSafety ()
	clear variables on construction
Public Attributes
double	k_position
double	k_velocity
double	soft_lower_limit
double	soft_upper_limit

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Detailed Description

Parameters for Joint Safety Controllers.

Definition at line 86 of file joint.h.

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Constructor & Destructor Documentation

urdf::JointSafety::JointSafety

(

)

[inline]

clear variables on construction

Definition at line 90 of file joint.h.

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Member Function Documentation

void urdf::JointSafety::clear

(

)

[inline]

Definition at line 128 of file joint.h.

bool urdf::JointSafety::initXml

(

TiXmlElement *

config

)

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Member Data Documentation

double urdf::JointSafety::k_position

Definition at line 125 of file joint.h.

double urdf::JointSafety::k_velocity

Definition at line 126 of file joint.h.

double urdf::JointSafety::soft_lower_limit

Definition at line 124 of file joint.h.

double urdf::JointSafety::soft_upper_limit

IMPORTANT: The safety controller support is very much PR2 specific, not intended for generic usage.

Basic safety controller operation is as follows

current safety controllers will take effect on joints outside the position range below:

position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position]

if (joint_position is outside of the position range above) velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) else velocity_limit_min = -JointLimits::velocity velocity_limit_max = JointLimits::velocity

velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, velocity_limit_max - JointLimits::effort / JointSafety::k_velocity]

if (joint_velocity is outside of the velocity range above) effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max) else effort_limit_min = -JointLimits::effort effort_limit_max = JointLimits::effort

Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max]

Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits

Definition at line 90 of file joint.h.

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The documentation for this class was generated from the following file:

• joint.h