joint_limits_interface::VelocityJointSaturationHandle Class Reference

A handle used to enforce 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 joint velocity and acceleration limits. More...
std::string	getName () const
	VelocityJointSaturationHandle ()=default
	VelocityJointSaturationHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits)

Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_
double	prev_cmd_ = {0.0}

Detailed Description

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

Definition at line 402 of file joint_limits_interface.h.

Constructor & Destructor Documentation

VelocityJointSaturationHandle() [1/2]

joint_limits_interface::VelocityJointSaturationHandle::VelocityJointSaturationHandle ( )

default

VelocityJointSaturationHandle() [2/2]

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

inline

Definition at line 407 of file joint_limits_interface.h.

Member Function Documentation

enforceLimits()

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

inline

Enforce joint velocity and acceleration limits.

Parameters

period

Control period.

Definition at line 425 of file joint_limits_interface.h.

getName()

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

inline

Returns

Joint name.

Definition at line 419 of file joint_limits_interface.h.

Member Data Documentation

jh_

hardware_interface::JointHandle joint_limits_interface::VelocityJointSaturationHandle::jh_

private

Definition at line 458 of file joint_limits_interface.h.

limits_

JointLimits joint_limits_interface::VelocityJointSaturationHandle::limits_

private

Definition at line 459 of file joint_limits_interface.h.

prev_cmd_

double joint_limits_interface::VelocityJointSaturationHandle::prev_cmd_ = {0.0}

private

Definition at line 461 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