joint_limits_interface::VelocityJointSaturationHandle Class Reference

A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...

#include <joint_limits_interface.h>

List of all members.

Public Member Functions
void	enforceLimits (const ros::Duration &period)
	Enforce joint velocity and acceleration limits.
std::string	getName () const
	VelocityJointSaturationHandle ()
	VelocityJointSaturationHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits)
Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_

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Detailed Description

A handle used to enforce velocity and acceleration limits of a velocity-controlled joint.

Definition at line 396 of file joint_limits_interface.h.

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Constructor & Destructor Documentation

joint_limits_interface::VelocityJointSaturationHandle::VelocityJointSaturationHandle

(

)

[inline]

Definition at line 399 of file joint_limits_interface.h.

joint_limits_interface::VelocityJointSaturationHandle::VelocityJointSaturationHandle	(	const hardware_interface::JointHandle &	jh,
		const JointLimits &	limits
	)		[inline]

Definition at line 401 of file joint_limits_interface.h.

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Member Function Documentation

void joint_limits_interface::VelocityJointSaturationHandle::enforceLimits

(

const ros::Duration &

period

)

[inline]

Enforce joint velocity and acceleration limits.

Parameters:

period

Control period.

Definition at line 419 of file joint_limits_interface.h.

std::string joint_limits_interface::VelocityJointSaturationHandle::getName

(

)

const [inline]

Returns:

Joint name.

Definition at line 413 of file joint_limits_interface.h.

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Member Data Documentation

hardware_interface::JointHandle joint_limits_interface::VelocityJointSaturationHandle::jh_ [private]

Definition at line 450 of file joint_limits_interface.h.

JointLimits joint_limits_interface::VelocityJointSaturationHandle::limits_ [private]

Definition at line 451 of file joint_limits_interface.h.

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

• joint_limits_interface.h