Struct PositionBasedJointVelocityLimitConstants

Defined in File joint_velocity_limits.h

Struct Documentation

struct PositionBasedJointVelocityLimitConstants

Structure to hold position-based joint velocity limit constants for a single joint from URDF. These parameters define velocity limits that depend on the current joint position.

Public Functions

inline PositionBasedJointVelocityLimitConstants()

inline PositionBasedJointVelocityLimitConstants(double max_velocity, double velocity_offset, double deceleration_limit, double upper_position_limit, double lower_position_limit)

Constructor with specified parameters

Parameters:

max_velocity – Maximum velocity
velocity_offset – Velocity offset parameter
deceleration_limit – Deceleration limit parameter
upper_position_limit – Upper position limit
lower_position_limit – Lower position limit

Public Members

double max_velocity

double velocity_offset

double deceleration_limit

double upper_position_limit

double lower_position_limit