Function joint_limits::check_for_limits_update(const std::string&, const std::vector<rclcpp::Parameter>&, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&, SoftJointLimits&)
Defined in File joint_limits_rosparam.hpp
Function Documentation
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inline bool joint_limits::check_for_limits_update(const std::string &joint_name, const std::vector<rclcpp::Parameter> ¶meters, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_itf, SoftJointLimits &updated_limits)
Check if any of updated parameters are related to SoftJointLimits.
This method is intended to be used in the parameters update callback. It is recommended that it’s result is temporarily stored and synchronized with the SoftJointLimits structure in the main loop.
- Parameters:
joint_name – [in] Name of the joint whose limits should be checked.
parameters – [in] List of the parameters that should be checked if they belong to this structure and that are used for updating the internal values.
logging_itf – [in] node logging interface to provide log errors.
updated_limits – [out] structure with updated SoftJointLimits. It is recommended that the currently used limits are stored into this structure before calling this method.