A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...

Public Member Functions
void	enforceLimits (const ros::Duration &period)
	Enforce joint velocity and acceleration limits. More...

std::string	getName () const

	VelocityJointSaturationHandle ()

	VelocityJointSaturationHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits)

Private Attributes
hardware_interface::JointHandle	jh_

JointLimits	limits_

Detailed Description

A handle used to enforce velocity and acceleration limits of a velocity-controlled joint.

Definition at line 406 of file joint_limits_interface.h.

Constructor & Destructor Documentation

joint_limits_interface::VelocityJointSaturationHandle::VelocityJointSaturationHandle ( )

inline

Definition at line 409 of file joint_limits_interface.h.

joint_limits_interface::VelocityJointSaturationHandle::VelocityJointSaturationHandle	(	const hardware_interface::JointHandle &	jh,
		const JointLimits &	limits
	)

inline

Definition at line 411 of file joint_limits_interface.h.

void joint_limits_interface::VelocityJointSaturationHandle::enforceLimits ( const ros::Duration & period )

inline

Enforce joint velocity and acceleration limits.

Parameters

period Control period.

Definition at line 429 of file joint_limits_interface.h.

std::string joint_limits_interface::VelocityJointSaturationHandle::getName ( ) const

inline

Definition at line 423 of file joint_limits_interface.h.

hardware_interface::JointHandle joint_limits_interface::VelocityJointSaturationHandle::jh_

private

Definition at line 460 of file joint_limits_interface.h.

JointLimits joint_limits_interface::VelocityJointSaturationHandle::limits_

private

Definition at line 461 of file joint_limits_interface.h.

The documentation for this class was generated from the following file: