Public Member Functions |
void | enforceLimits () |
| Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
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void | getLimits (double &effort_low, double &effort_high) |
| Returns the safety effort limits given the current position and velocity.
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| JointState () |
| Constructor.
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Public Attributes |
bool | calibrated_ |
| Bool to indicate if the joint has been calibrated or not.
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double | commanded_effort_ |
| The effort the joint should apply in Nm or N (write-to variable)
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boost::shared_ptr< const
urdf::Joint > | joint_ |
| A pointer to the corresponding urdf::Joint from the urdf::Model.
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JointStatistics | joint_statistics_ |
double | measured_effort_ |
| The measured joint effort in Nm or N (read-only variable)
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double | position_ |
| The joint position in radians or meters (read-only variable)
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double | reference_position_ |
| The position of the optical flag that was used to calibrate this joint.
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double | velocity_ |
| The joint velocity in randians/sec or meters/sec (read-only variable)
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Definition at line 71 of file joint.h.