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41 #include <urdf_model/joint.h>
55 void update(JointState* s);
78 void getLimits(
double &effort_low,
double &effort_high);
82 urdf::JointConstSharedPtr
joint_;
void enforceLimits()
Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
double velocity_
The joint velocity in randians/sec or meters/sec (read-only variable)
double position_
The joint position in radians or meters (read-only variable)
boost::shared_ptr< const urdf::Joint > joint_
A pointer to the corresponding urdf::Joint from the urdf::Model.
void getLimits(double &effort_low, double &effort_high)
Returns the safety effort limits given the current position and velocity.
double commanded_effort_
The effort the joint should apply in Nm or N (write-to variable)
void update(JointState *s)
bool calibrated_
Bool to indicate if the joint has been calibrated or not.
double measured_effort_
The measured joint effort in Nm or N (read-only variable)
double reference_position_
The position of the optical flag that was used to calibrate this joint.
JointStatistics joint_statistics_
pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Mar 6 2023 03:49:17