#include <joint.h>

Public Member Functions
void	enforceLimits ()
	Modify the commanded_effort_ of the joint state so that the joint limits are satisfied. More...

void	getLimits (double &effort_low, double &effort_high)
	Returns the safety effort limits given the current position and velocity. More...

	JointState ()
	Constructor. More...

Public Attributes
bool	calibrated_
	Bool to indicate if the joint has been calibrated or not. More...

double	commanded_effort_
	The effort the joint should apply in Nm or N (write-to variable) More...

boost::shared_ptr< const urdf::Joint >	joint_
	A pointer to the corresponding urdf::Joint from the urdf::Model. More...

JointStatistics	joint_statistics_

double	measured_effort_
	The measured joint effort in Nm or N (read-only variable) More...

double	position_
	The joint position in radians or meters (read-only variable) More...

double	reference_position_
	The position of the optical flag that was used to calibrate this joint. More...

double	velocity_
	The joint velocity in randians/sec or meters/sec (read-only variable) More...

Detailed Description

Definition at line 71 of file joint.h.

Constructor & Destructor Documentation

◆ JointState()

pr2_mechanism_model::JointState::JointState ( )

inline

Constructor.

Definition at line 109 of file joint.h.

Member Function Documentation

◆ enforceLimits()

void JointState::enforceLimits ( )

Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.

Definition at line 77 of file joint.cpp.

◆ getLimits()

void JointState::getLimits	(	double &	effort_low,
		double &	effort_high
	)

Returns the safety effort limits given the current position and velocity.

Definition at line 88 of file joint.cpp.

Member Data Documentation

◆ calibrated_

bool pr2_mechanism_model::JointState::calibrated_

Bool to indicate if the joint has been calibrated or not.

Definition at line 103 of file joint.h.

◆ commanded_effort_

double pr2_mechanism_model::JointState::commanded_effort_

The effort the joint should apply in Nm or N (write-to variable)

Definition at line 100 of file joint.h.

◆ joint_

boost::shared_ptr<const urdf::Joint> pr2_mechanism_model::JointState::joint_

A pointer to the corresponding urdf::Joint from the urdf::Model.

Definition at line 84 of file joint.h.

◆ joint_statistics_

JointStatistics pr2_mechanism_model::JointState::joint_statistics_

Definition at line 97 of file joint.h.

◆ measured_effort_

double pr2_mechanism_model::JointState::measured_effort_

The measured joint effort in Nm or N (read-only variable)

Definition at line 94 of file joint.h.

◆ position_

double pr2_mechanism_model::JointState::position_

The joint position in radians or meters (read-only variable)

Definition at line 88 of file joint.h.

◆ reference_position_

double pr2_mechanism_model::JointState::reference_position_

The position of the optical flag that was used to calibrate this joint.

Definition at line 106 of file joint.h.

◆ velocity_

double pr2_mechanism_model::JointState::velocity_

The joint velocity in randians/sec or meters/sec (read-only variable)

Definition at line 91 of file joint.h.

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

Public Member Functions

Public Attributes