A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...
#include <joint_limits_interface.h>
Public Member Functions | |
void | enforceLimits (const ros::Duration &period) |
Enforce joint velocity and acceleration limits. | |
std::string | getName () const |
VelocityJointSaturationHandle () | |
VelocityJointSaturationHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits) | |
Private Attributes | |
hardware_interface::JointHandle | jh_ |
JointLimits | limits_ |
A handle used to enforce velocity and acceleration limits of a velocity-controlled joint.
Definition at line 410 of file joint_limits_interface.h.
Definition at line 413 of file joint_limits_interface.h.
joint_limits_interface::VelocityJointSaturationHandle::VelocityJointSaturationHandle | ( | const hardware_interface::JointHandle & | jh, |
const JointLimits & | limits | ||
) | [inline] |
Definition at line 415 of file joint_limits_interface.h.
void joint_limits_interface::VelocityJointSaturationHandle::enforceLimits | ( | const ros::Duration & | period | ) | [inline] |
Enforce joint velocity and acceleration limits.
period | Control period. |
Definition at line 433 of file joint_limits_interface.h.
std::string joint_limits_interface::VelocityJointSaturationHandle::getName | ( | ) | const [inline] |
Definition at line 427 of file joint_limits_interface.h.
hardware_interface::JointHandle joint_limits_interface::VelocityJointSaturationHandle::jh_ [private] |
Definition at line 464 of file joint_limits_interface.h.
Definition at line 465 of file joint_limits_interface.h.