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. More... | |
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 406 of file joint_limits_interface.h.
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inline |
Definition at line 409 of file joint_limits_interface.h.
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inline |
Definition at line 411 of file joint_limits_interface.h.
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inline |
Enforce joint velocity and acceleration limits.
period | Control period. |
Definition at line 429 of file joint_limits_interface.h.
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inline |
Definition at line 423 of file joint_limits_interface.h.
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private |
Definition at line 460 of file joint_limits_interface.h.
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private |
Definition at line 461 of file joint_limits_interface.h.