joint_limits_interface::PositionJointSaturationHandle Class Reference

A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits. More...

#include <joint_limits_interface.h>

List of all members.

Public Member Functions
void	enforceLimits (const ros::Duration &period)
	Enforce position and velocity limits for a joint that is not subject to soft limits.
std::string	getName () const
	PositionJointSaturationHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits)
void	reset ()
	Reset state, in case of mode switch or e-stop.
Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_
double	max_pos_limit_
double	min_pos_limit_
double	prev_cmd_

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Detailed Description

A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits.

Definition at line 65 of file joint_limits_interface.h.

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Constructor & Destructor Documentation

joint_limits_interface::PositionJointSaturationHandle::PositionJointSaturationHandle	(	const hardware_interface::JointHandle &	jh,
		const JointLimits &	limits
	)		[inline]

Definition at line 68 of file joint_limits_interface.h.

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Member Function Documentation

void joint_limits_interface::PositionJointSaturationHandle::enforceLimits

(

const ros::Duration &

period

)

[inline]

Enforce position and velocity limits for a joint that is not subject to soft limits.

Parameters:

period

Control period.

Definition at line 95 of file joint_limits_interface.h.

std::string joint_limits_interface::PositionJointSaturationHandle::getName

(

)

const [inline]

Returns:

Joint name.

Definition at line 88 of file joint_limits_interface.h.

void joint_limits_interface::PositionJointSaturationHandle::reset

(

)

[inline]

Reset state, in case of mode switch or e-stop.

Definition at line 121 of file joint_limits_interface.h.

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Member Data Documentation

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

Definition at line 126 of file joint_limits_interface.h.

JointLimits joint_limits_interface::PositionJointSaturationHandle::limits_ [private]

Definition at line 127 of file joint_limits_interface.h.

double joint_limits_interface::PositionJointSaturationHandle::max_pos_limit_ [private]

Definition at line 128 of file joint_limits_interface.h.

double joint_limits_interface::PositionJointSaturationHandle::min_pos_limit_ [private]

Definition at line 128 of file joint_limits_interface.h.

double joint_limits_interface::PositionJointSaturationHandle::prev_cmd_ [private]

Definition at line 129 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