joint_limits_interface::VelocityJointSoftLimitsHandle Class Reference

A handle used to enforce position, 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 position, velocity, and acceleration limits for a velocity-controlled joint subject to soft limits.
std::string	getName () const
	VelocityJointSoftLimitsHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits, const SoftJointLimits &soft_limits)
Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_
double	max_vel_limit_
SoftJointLimits	soft_limits_

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Detailed Description

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

Definition at line 467 of file joint_limits_interface.h.

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Constructor & Destructor Documentation

joint_limits_interface::VelocityJointSoftLimitsHandle::VelocityJointSoftLimitsHandle	(	const hardware_interface::JointHandle &	jh,
		const JointLimits &	limits,
		const SoftJointLimits &	soft_limits
	)		[inline]

Definition at line 470 of file joint_limits_interface.h.

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Member Function Documentation

void joint_limits_interface::VelocityJointSoftLimitsHandle::enforceLimits

(

const ros::Duration &

period

)

[inline]

Enforce position, velocity, and acceleration limits for a velocity-controlled joint subject to soft limits.

Parameters:

period

Control period.

Definition at line 490 of file joint_limits_interface.h.

std::string joint_limits_interface::VelocityJointSoftLimitsHandle::getName

(

)

const [inline]

Returns:

Joint name.

Definition at line 483 of file joint_limits_interface.h.

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Member Data Documentation

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

Definition at line 522 of file joint_limits_interface.h.

JointLimits joint_limits_interface::VelocityJointSoftLimitsHandle::limits_ [private]

Definition at line 523 of file joint_limits_interface.h.

double joint_limits_interface::VelocityJointSoftLimitsHandle::max_vel_limit_ [private]

Definition at line 525 of file joint_limits_interface.h.

SoftJointLimits joint_limits_interface::VelocityJointSoftLimitsHandle::soft_limits_ [private]

Definition at line 524 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