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>

Public Member Functions
void	enforceLimits (const ros::Duration &period)
	Enforce position, velocity, and acceleration limits for a velocity-controlled joint subject to soft limits. More...
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_

Detailed Description

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

Definition at line 465 of file joint_limits_interface.h.

Constructor & Destructor Documentation

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

inline

Definition at line 468 of file joint_limits_interface.h.

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 488 of file joint_limits_interface.h.

std::string joint_limits_interface::VelocityJointSoftLimitsHandle::getName ( ) const

inline

Returns

Joint name.

Definition at line 481 of file joint_limits_interface.h.

Member Data Documentation

hardware_interface::JointHandle joint_limits_interface::VelocityJointSoftLimitsHandle::jh_

private

Definition at line 520 of file joint_limits_interface.h.

JointLimits joint_limits_interface::VelocityJointSoftLimitsHandle::limits_

private

Definition at line 521 of file joint_limits_interface.h.

double joint_limits_interface::VelocityJointSoftLimitsHandle::max_vel_limit_

private

Definition at line 523 of file joint_limits_interface.h.

SoftJointLimits joint_limits_interface::VelocityJointSoftLimitsHandle::soft_limits_

private

Definition at line 522 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