Public Member Functions | Public Attributes
ros_ethercat_model::JointState Class Reference

#include <joint.hpp>

List of all members.

Public Member Functions

void enforceLimits ()
 Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
void getLimits (double &effort_low, double &effort_high)
 Returns the safety effort limits given the current position and velocity.
 JointState ()
 Constructor.

Public Attributes

bool calibrated_
 Indicates 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.
JointStatistics joint_statistics_
double measured_effort_
 The measured joint effort in Nm or N (read-only variable)
double position_
 The joint position in radians or meters (read-only variable)
double reference_position_
 The position of the optical flag that was used to calibrate this joint.
double velocity_
 The joint velocity in radians/sec or meters/sec (read-only variable)

Detailed Description

Definition at line 92 of file joint.hpp.


Constructor & Destructor Documentation

Constructor.

Definition at line 169 of file joint.hpp.


Member Function Documentation

Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.

Definition at line 96 of file joint.hpp.

void ros_ethercat_model::JointState::getLimits ( double &  effort_low,
double &  effort_high 
) [inline]

Returns the safety effort limits given the current position and velocity.

Definition at line 107 of file joint.hpp.


Member Data Documentation

Indicates if the joint has been calibrated or not.

Definition at line 163 of file joint.hpp.

The effort the joint should apply in Nm or N (write-to variable)

Definition at line 160 of file joint.hpp.

boost::shared_ptr<const urdf::Joint> ros_ethercat_model::JointState::joint_

A pointer to the corresponding urdf::Joint from the urdf::Model.

Definition at line 145 of file joint.hpp.

Definition at line 157 of file joint.hpp.

The measured joint effort in Nm or N (read-only variable)

Definition at line 154 of file joint.hpp.

The joint position in radians or meters (read-only variable)

Definition at line 148 of file joint.hpp.

The position of the optical flag that was used to calibrate this joint.

Definition at line 166 of file joint.hpp.

The joint velocity in radians/sec or meters/sec (read-only variable)

Definition at line 151 of file joint.hpp.


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


ros_ethercat_model
Author(s): Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:12