Struct JointLimits

Defined in File joint_limits.hpp

Struct Documentation

struct JointLimits

JointLimits structure stores values from from yaml definition or <limits> tag in URDF. The mapping from URDF attributes to members is the following: lower –> min_position upper –> max_position velocity –> max_velocity effort –> max_effort

Public Functions

inline JointLimits()

inline std::string to_string()

Public Members

double min_position

double max_position

double max_velocity

double max_acceleration

double max_deceleration

double max_jerk

double max_effort

bool has_position_limits

bool has_velocity_limits

bool has_acceleration_limits

bool has_deceleration_limits

bool has_jerk_limits

bool has_effort_limits

bool angle_wraparound