Namespaces | Classes | Functions
joint_limits_interface Namespace Reference

Namespaces

namespace  internal

Classes

class  EffortJointSaturationHandle
 A handle used to enforce position, velocity, and effort limits of an effort-controlled joint that does not have soft limits. More...
class  EffortJointSaturationInterface
class  EffortJointSoftLimitsHandle
 A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...
class  EffortJointSoftLimitsInterface
struct  JointLimits
class  JointLimitsInterface
 Interface for enforcing joint limits. More...
class  JointLimitsInterfaceException
 An exception related to a JointLimitsInterface. More...
class  PositionJointSaturationHandle
 A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits. More...
class  PositionJointSaturationInterface
class  PositionJointSoftLimitsHandle
 A handle used to enforce position and velocity limits of a position-controlled joint. More...
class  PositionJointSoftLimitsInterface
struct  SoftJointLimits
class  VelocityJointSaturationHandle
 A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...
class  VelocityJointSaturationInterface
class  VelocityJointSoftLimitsHandle
 A handle used to enforce position, velocity, and acceleration limits of a velocity-controlled joint. More...
class  VelocityJointSoftLimitsInterface

Functions

bool getJointLimits (boost::shared_ptr< const urdf::Joint > urdf_joint, JointLimits &limits)
 Populate a JointLimits instance from URDF joint data.
bool getJointLimits (const std::string &joint_name, const ros::NodeHandle &nh, JointLimits &limits)
 Populate a JointLimits instance from the ROS parameter server.
bool getSoftJointLimits (boost::shared_ptr< const urdf::Joint > urdf_joint, SoftJointLimits &soft_limits)
 Populate a SoftJointLimits instance from URDF joint data.

Detailed Description

Author:
Adolfo Rodriguez Tsouroukdissian

Function Documentation

bool joint_limits_interface::getJointLimits ( boost::shared_ptr< const urdf::Joint >  urdf_joint,
JointLimits &  limits 
)

Populate a JointLimits instance from URDF joint data.

Parameters:
[in]urdf_jointURDF joint.
[out]limitsWhere URDF joint limit data gets written into. Limits in urdf_joint will overwrite existing values. Values in limits not present in urdf_joint remain unchanged.
Returns:
True if urdf_joint has a valid limits specification, false otherwise.

Definition at line 51 of file joint_limits_urdf.h.

bool joint_limits_interface::getJointLimits ( const std::string &  joint_name,
const ros::NodeHandle nh,
JointLimits &  limits 
)

Populate a JointLimits instance from the ROS parameter server.

It is assumed that the following parameter structure is followed on the provided NodeHandle. Unspecified parameters are simply not added to the joint limits specification.

 joint_limits:
   foo_joint:
     has_position_limits: true
     min_position: 0.0
     max_position: 1.0
     has_velocity_limits: true
     max_velocity: 2.0
     has_acceleration_limits: true
     max_acceleration: 5.0
     has_jerk_limits: true
     max_jerk: 100.0
     has_effort_limits: true
     max_effort: 20.0
   bar_joint:
     has_position_limits: false # Continuous joint
     has_velocity_limits: true
     max_velocity: 4.0

This specification is similar to the one used by MoveIt!, but additionally supports jerk and effort limits.

Parameters:
[in]joint_nameName of joint whose limits are to be fetched.
[in]nhNodeHandle where the joint limits are specified.
[out]limitsWhere joint limit data gets written into. Limits specified in the parameter server will overwrite existing values. Values in limits not specified in the parameter server remain unchanged.
Returns:
True if a limits specification is found (ie. the joint_limits/joint_name parameter exists in nh), false otherwise.

Definition at line 75 of file joint_limits_rosparam.h.

bool joint_limits_interface::getSoftJointLimits ( boost::shared_ptr< const urdf::Joint >  urdf_joint,
SoftJointLimits &  soft_limits 
)

Populate a SoftJointLimits instance from URDF joint data.

Parameters:
[in]urdf_jointURDF joint.
[out]soft_limitsWhere URDF soft joint limit data gets written into.
Returns:
True if urdf_joint has a valid soft limits specification, false otherwise.

Definition at line 87 of file joint_limits_urdf.h.



joint_limits_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Aug 28 2015 12:36:23