Public Member Functions |
| void | enforceLimits () |
| | Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
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| void | getLimits (double &effort_low, double &effort_high) |
| | Returns the safety effort limits given the current position and velocity.
|
| | JointState () |
| | Constructor.
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Public Attributes |
| bool | calibrated_ |
| | Bool to indicate if the joint has been calibrated or not.
|
| double | commanded_effort_ |
| | The effort the joint should apply in Nm or N (write-to variable)
|
boost::shared_ptr< const
urdf::Joint > | joint_ |
| | A pointer to the corresponding urdf::Joint from the urdf::Model.
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| JointStatistics | joint_statistics_ |
| double | measured_effort_ |
| | The measured joint effort in Nm or N (read-only variable)
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| double | position_ |
| | The joint position in radians or meters (read-only variable)
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| double | reference_position_ |
| | The position of the optical flag that was used to calibrate this joint.
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| double | velocity_ |
| | The joint velocity in randians/sec or meters/sec (read-only variable)
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Definition at line 71 of file joint.h.