Inheritance diagram for JointTorqueLimiter:

Public Member Functions
bool	getCompletionMessage (r2_msgs::StringArray &completionMsg)
void	initializeMaps ()
	Initialize maps and iterate through elements, find the joints and set the data and torque to zero.
	JointTorqueLimiter (const std::string &urdfFile)
	Constructor for Joint Torque Limiter.
int	populateTorqueMsg (sensor_msgs::JointState &tauLimCmd)
	Fill out header, resize message if needed, and fill in torque message.
void	setYankLimit (const double lim)
	Set Yank limit on the joint torque limiter lim Value to set yank limit.
int	storeJointTorques (const double &tau)
	Fill out header, resize message if needed, and fill in torque message.
int	storeJointTorques (const sensor_msgs::JointState &desiredTauLim)
	Match chain properties to jntArray properties and store the torque value for each joint.
	~JointTorqueLimiter ()
Public Attributes
std::map< std::string, double >	jointTorqueLimMap
Private Attributes
RateLimiter	yl

Detailed Description

Definition at line 14 of file JointTorqueLimiter.h.

Constructor & Destructor Documentation

JointTorqueLimiter::JointTorqueLimiter ( const std::string & urdfFile )

Constructor for Joint Torque Limiter.

Definition at line 7 of file JointTorqueLimiter.cpp.

JointTorqueLimiter::~JointTorqueLimiter ( )

Definition at line 12 of file JointTorqueLimiter.cpp.

bool JointTorqueLimiter::getCompletionMessage ( r2_msgs::StringArray & completionMsg )

Definition at line 137 of file JointTorqueLimiter.cpp.

void JointTorqueLimiter::initializeMaps ( )

Initialize maps and iterate through elements, find the joints and set the data and torque to zero.

Definition at line 31 of file JointTorqueLimiter.cpp.

int JointTorqueLimiter::populateTorqueMsg ( sensor_msgs::JointState & tauLim )

Fill out header, resize message if needed, and fill in torque message.

Parameters:

tauLim Torque message

Definition at line 62 of file JointTorqueLimiter.cpp.

void JointTorqueLimiter::setYankLimit ( const double lim )

Set Yank limit on the joint torque limiter lim Value to set yank limit.

Definition at line 21 of file JointTorqueLimiter.cpp.

int JointTorqueLimiter::storeJointTorques ( const double & tau )

Fill out header, resize message if needed, and fill in torque message.

Parameters:

tauLim Torque message

Definition at line 94 of file JointTorqueLimiter.cpp.

int JointTorqueLimiter::storeJointTorques ( const sensor_msgs::JointState & desiredTauLim )

Match chain properties to jntArray properties and store the torque value for each joint.

Parameters:

desiredTauLim Joint state to check in the jointTorqueLimMap

Definition at line 115 of file JointTorqueLimiter.cpp.

Definition at line 27 of file JointTorqueLimiter.h.

RateLimiter JointTorqueLimiter::yl [private]

Definition at line 30 of file JointTorqueLimiter.h.

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