joint_limits_interface::PositionJointSaturationHandle Class Reference

A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits. More...

#include <joint_limits_interface.h>

Public Member Functions
void	enforceLimits (const ros::Duration &period)
	Enforce position and velocity limits for a joint that is not subject to soft limits. More...
std::string	getName () const
	PositionJointSaturationHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits)
void	reset ()
	Reset state, in case of mode switch or e-stop. More...

Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_
double	max_pos_limit_
double	min_pos_limit_
double	prev_cmd_ = {std::numeric_limits<double>::quiet_NaN()}

Detailed Description

A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits.

Definition at line 63 of file joint_limits_interface.h.

Constructor & Destructor Documentation

PositionJointSaturationHandle()

joint_limits_interface::PositionJointSaturationHandle::PositionJointSaturationHandle ( const hardware_interface::JointHandle &  jh, const JointLimits &  limits  )

inline

Definition at line 66 of file joint_limits_interface.h.

Member Function Documentation

enforceLimits()

void joint_limits_interface::PositionJointSaturationHandle::enforceLimits ( const ros::Duration &  period )

inline

Enforce position and velocity limits for a joint that is not subject to soft limits.

Parameters

period

Control period.

Definition at line 91 of file joint_limits_interface.h.

getName()

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

inline

Returns

Joint name.

Definition at line 84 of file joint_limits_interface.h.

reset()

void joint_limits_interface::PositionJointSaturationHandle::reset ( )

inline

Reset state, in case of mode switch or e-stop.

Definition at line 117 of file joint_limits_interface.h.

Member Data Documentation

jh_

hardware_interface::JointHandle joint_limits_interface::PositionJointSaturationHandle::jh_

private

Definition at line 122 of file joint_limits_interface.h.

limits_

JointLimits joint_limits_interface::PositionJointSaturationHandle::limits_

private

Definition at line 123 of file joint_limits_interface.h.

max_pos_limit_

double joint_limits_interface::PositionJointSaturationHandle::max_pos_limit_

private

Definition at line 124 of file joint_limits_interface.h.

min_pos_limit_

double joint_limits_interface::PositionJointSaturationHandle::min_pos_limit_

private

Definition at line 124 of file joint_limits_interface.h.

prev_cmd_

double joint_limits_interface::PositionJointSaturationHandle::prev_cmd_ = {std::numeric_limits<double>::quiet_NaN()}

private

Definition at line 126 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