joint_limits_interface::EffortJointSoftLimitsHandle Class Reference

A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...

#include <joint_limits_interface.h>

Public Member Functions
	EffortJointSoftLimitsHandle ()=default
	EffortJointSoftLimitsHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits, const SoftJointLimits &soft_limits)
void	enforceLimits (const ros::Duration &)
	Enforce position, velocity and effort limits for a joint subject to soft limits. More...
std::string	getName () const

Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_
SoftJointLimits	soft_limits_

Detailed Description

A handle used to enforce position, velocity and effort limits of an effort-controlled joint.

Definition at line 316 of file joint_limits_interface.h.

Constructor & Destructor Documentation

EffortJointSoftLimitsHandle() [1/2]

joint_limits_interface::EffortJointSoftLimitsHandle::EffortJointSoftLimitsHandle ( )

default

EffortJointSoftLimitsHandle() [2/2]

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

inline

Definition at line 321 of file joint_limits_interface.h.

Member Function Documentation

enforceLimits()

void joint_limits_interface::EffortJointSoftLimitsHandle::enforceLimits ( const ros::Duration &  )

inline

Enforce position, velocity and effort limits for a joint subject to soft limits.

If the joint has no position limits (eg. a continuous joint), only velocity and effort limits will be enforced.

Definition at line 348 of file joint_limits_interface.h.

getName()

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

inline

Returns

Joint name.

Definition at line 341 of file joint_limits_interface.h.

Member Data Documentation

jh_

hardware_interface::JointHandle joint_limits_interface::EffortJointSoftLimitsHandle::jh_

private

Definition at line 395 of file joint_limits_interface.h.

limits_

JointLimits joint_limits_interface::EffortJointSoftLimitsHandle::limits_

private

Definition at line 396 of file joint_limits_interface.h.

soft_limits_

SoftJointLimits joint_limits_interface::EffortJointSoftLimitsHandle::soft_limits_

private

Definition at line 397 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