Function franka::computeUpperLimitsJointVelocity

• Defined in File rate_limiting.h

Function Documentation

inline std::array<double, 7> franka::computeUpperLimitsJointVelocity(const std::array<double, 7> &q)

Computes the maximum joint velocity based on joint position

Deprecated:

This function is deprecated and will be removed in future versions. Use Robot::getUpperJointVelocityLimits(const std::array<double, 7UL> &joint_positions) instead (if applicable).

Note

The implementation is based on https://frankarobotics.github.io/docs/control_parameters.html#limits-for-franka-research-3.

Parameters:

q – [in] joint position.

Returns:

Upper limits of joint velocity at the given joint position.