pilz::CartesianLimitsAggregator Class Reference

Obtains cartesian limits from the parameter server. More...

#include <cartesian_limits_aggregator.h>

Static Public Member Functions
static CartesianLimit	getAggregatedLimits (const ros::NodeHandle &nh)
	Loads cartesian limits from the parameter server. More...

Detailed Description

Obtains cartesian limits from the parameter server.

Definition at line 28 of file cartesian_limits_aggregator.h.

Member Function Documentation

pilz::CartesianLimit pilz::CartesianLimitsAggregator::getAggregatedLimits ( const ros::NodeHandle &  nh )

static

Loads cartesian limits from the parameter server.

The parameters are expected to be under "~/cartesian_limits" of the given node handle. The following limits can be specified:

• "max_trans_vel", the maximum translational velocity [m/s]
• "max_trans_acc, the maximum translational acceleration [m/s^2] - "max_trans_dec", the maximum translational deceleration (<= 0) [m/s^2] - "max_rot_vel", the maximum rotational velocity [rad/s] - "max_rot_acc", the maximum rotational acceleration [rad/s^2] - "max_rot_dec", the maximum rotational deceleration (<= 0)[rad/s^2]

  Parameters

  nh	node handle to access the parameters

  Returns

  the obtained cartesian limits

Definition at line 31 of file cartesian_limits_aggregator.cpp.

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

• cartesian_limits_aggregator.h
• cartesian_limits_aggregator.cpp