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joint_limits_interface
joint_limits.h
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// Copyright (C) 2013, PAL Robotics S.L.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of PAL Robotics S.L. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H
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#define JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H
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namespace
joint_limits_interface
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{
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struct
JointLimits
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{
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JointLimits
()
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:
min_position
(0.0),
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max_position
(0.0),
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max_velocity
(0.0),
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max_acceleration
(0.0),
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max_jerk
(0.0),
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max_effort
(0.0),
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has_position_limits
(false),
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has_velocity_limits
(false),
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has_acceleration_limits
(false),
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has_jerk_limits
(false),
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has_effort_limits
(false),
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angle_wraparound
(false)
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{}
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double
min_position
;
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double
max_position
;
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double
max_velocity
;
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double
max_acceleration
;
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double
max_jerk
;
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double
max_effort
;
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bool
has_position_limits
;
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bool
has_velocity_limits
;
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bool
has_acceleration_limits
;
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bool
has_jerk_limits
;
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bool
has_effort_limits
;
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bool
angle_wraparound
;
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};
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struct
SoftJointLimits
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{
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SoftJointLimits
()
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:
min_position
(0.0),
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max_position
(0.0),
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k_position(0.0),
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k_velocity(0.0)
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{}
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double
min_position
;
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double
max_position
;
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double
k_position
;
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double
k_velocity
;
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};
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}
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#endif
joint_limits_interface::JointLimits
Definition:
joint_limits.h:36
joint_limits_interface::SoftJointLimits::SoftJointLimits
SoftJointLimits()
Definition:
joint_limits.h:70
joint_limits_interface::JointLimits::max_velocity
double max_velocity
Definition:
joint_limits.h:55
joint_limits_interface::SoftJointLimits
Definition:
joint_limits.h:68
joint_limits_interface::JointLimits::max_position
double max_position
Definition:
joint_limits.h:54
joint_limits_interface::JointLimits::max_effort
double max_effort
Definition:
joint_limits.h:58
joint_limits_interface::SoftJointLimits::k_velocity
double k_velocity
Definition:
joint_limits.h:80
joint_limits_interface::JointLimits::angle_wraparound
bool angle_wraparound
Definition:
joint_limits.h:65
joint_limits_interface::SoftJointLimits::max_position
double max_position
Definition:
joint_limits.h:78
joint_limits_interface::JointLimits::has_acceleration_limits
bool has_acceleration_limits
Definition:
joint_limits.h:62
joint_limits_interface::JointLimits::has_velocity_limits
bool has_velocity_limits
Definition:
joint_limits.h:61
joint_limits_interface::JointLimits::has_effort_limits
bool has_effort_limits
Definition:
joint_limits.h:64
joint_limits_interface::SoftJointLimits::k_position
double k_position
Definition:
joint_limits.h:79
joint_limits_interface::JointLimits::JointLimits
JointLimits()
Definition:
joint_limits.h:38
joint_limits_interface::JointLimits::has_jerk_limits
bool has_jerk_limits
Definition:
joint_limits.h:63
joint_limits_interface::JointLimits::has_position_limits
bool has_position_limits
Definition:
joint_limits.h:60
joint_limits_interface::JointLimits::min_position
double min_position
Definition:
joint_limits.h:53
joint_limits_interface::SoftJointLimits::min_position
double min_position
Definition:
joint_limits.h:77
joint_limits_interface::JointLimits::max_acceleration
double max_acceleration
Definition:
joint_limits.h:56
joint_limits_interface
Definition:
joint_limits.h:33
joint_limits_interface::JointLimits::max_jerk
double max_jerk
Definition:
joint_limits.h:57
joint_limits_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Mon Apr 20 2020 03:52:12