Public Member Functions | Public Attributes | List of all members
pr2_mechanism_model::JointState Class Reference

#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:


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Sun Aug 16 2020 03:58:35