A handle used to enforce position, velocity, and acceleration limits of a velocity-controlled joint. More...
#include <joint_limits_interface.h>
Public Member Functions | |
void | enforceLimits (const ros::Duration &period) |
Enforce position, velocity, and acceleration limits for a velocity-controlled joint subject to soft limits. | |
std::string | getName () const |
VelocityJointSoftLimitsHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits, const SoftJointLimits &soft_limits) | |
Private Attributes | |
hardware_interface::JointHandle | jh_ |
JointLimits | limits_ |
double | max_vel_limit_ |
SoftJointLimits | soft_limits_ |
A handle used to enforce position, velocity, and acceleration limits of a velocity-controlled joint.
Definition at line 469 of file joint_limits_interface.h.
joint_limits_interface::VelocityJointSoftLimitsHandle::VelocityJointSoftLimitsHandle | ( | const hardware_interface::JointHandle & | jh, |
const JointLimits & | limits, | ||
const SoftJointLimits & | soft_limits | ||
) | [inline] |
Definition at line 472 of file joint_limits_interface.h.
void joint_limits_interface::VelocityJointSoftLimitsHandle::enforceLimits | ( | const ros::Duration & | period | ) | [inline] |
Enforce position, velocity, and acceleration limits for a velocity-controlled joint subject to soft limits.
period | Control period. |
Definition at line 492 of file joint_limits_interface.h.
std::string joint_limits_interface::VelocityJointSoftLimitsHandle::getName | ( | ) | const [inline] |
Definition at line 485 of file joint_limits_interface.h.
hardware_interface::JointHandle joint_limits_interface::VelocityJointSoftLimitsHandle::jh_ [private] |
Definition at line 524 of file joint_limits_interface.h.
Definition at line 525 of file joint_limits_interface.h.
Definition at line 527 of file joint_limits_interface.h.
Definition at line 526 of file joint_limits_interface.h.