A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...
#include <joint_limits_interface.h>
Public Member Functions | |
EffortJointSoftLimitsHandle () | |
EffortJointSoftLimitsHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits, const SoftJointLimits &soft_limits) | |
void | enforceLimits (const ros::Duration &) |
Enforce position, velocity and effort limits for a joint subject to soft limits. | |
std::string | getName () const |
Private Attributes | |
hardware_interface::JointHandle | jh_ |
JointLimits | limits_ |
SoftJointLimits | soft_limits_ |
A handle used to enforce position, velocity and effort limits of an effort-controlled joint.
Definition at line 324 of file joint_limits_interface.h.
Definition at line 327 of file joint_limits_interface.h.
joint_limits_interface::EffortJointSoftLimitsHandle::EffortJointSoftLimitsHandle | ( | const hardware_interface::JointHandle & | jh, |
const JointLimits & | limits, | ||
const SoftJointLimits & | soft_limits | ||
) | [inline] |
Definition at line 329 of file joint_limits_interface.h.
void joint_limits_interface::EffortJointSoftLimitsHandle::enforceLimits | ( | const ros::Duration & | ) | [inline] |
Enforce position, velocity and effort limits for a joint subject to soft limits.
If the joint has no position limits (eg. a continuous joint), only velocity and effort limits will be enforced.
Definition at line 356 of file joint_limits_interface.h.
std::string joint_limits_interface::EffortJointSoftLimitsHandle::getName | ( | ) | const [inline] |
Definition at line 349 of file joint_limits_interface.h.
Definition at line 403 of file joint_limits_interface.h.
Definition at line 404 of file joint_limits_interface.h.
Definition at line 405 of file joint_limits_interface.h.