#include <joint.h>

Public Member Functions
void	enforceLimits ()
	Modify the commanded_effort_ of the joint state so that the joint limits are satisfied. More...

void	getLimits (double &effort_low, double &effort_high)
	Returns the safety effort limits given the current position and velocity. More...

	JointState ()
	Constructor. More...

Public Attributes
bool	calibrated_
	Bool to indicate if the joint has been calibrated or not. More...

double	commanded_effort_
	The effort the joint should apply in Nm or N (write-to variable) More...

boost::shared_ptr< const urdf::Joint >	joint_
	A pointer to the corresponding urdf::Joint from the urdf::Model. More...

JointStatistics	joint_statistics_

double	measured_effort_
	The measured joint effort in Nm or N (read-only variable) More...

double	position_
	The joint position in radians or meters (read-only variable) More...

double	reference_position_
	The position of the optical flag that was used to calibrate this joint. More...

double	velocity_
	The joint velocity in randians/sec or meters/sec (read-only variable) More...

Detailed Description

Definition at line 71 of file joint.h.

Constructor & Destructor Documentation

pr2_mechanism_model::JointState::JointState ( )

inline

Constructor.

Definition at line 105 of file joint.h.

void JointState::enforceLimits ( )

Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.

Definition at line 76 of file joint.cpp.

Returns the safety effort limits given the current position and velocity.

Definition at line 87 of file joint.cpp.

bool pr2_mechanism_model::JointState::calibrated_

Bool to indicate if the joint has been calibrated or not.

Definition at line 99 of file joint.h.

double pr2_mechanism_model::JointState::commanded_effort_

The effort the joint should apply in Nm or N (write-to variable)

Definition at line 96 of file joint.h.

boost::shared_ptr<const urdf::Joint> pr2_mechanism_model::JointState::joint_

A pointer to the corresponding urdf::Joint from the urdf::Model.

Definition at line 81 of file joint.h.

JointStatistics pr2_mechanism_model::JointState::joint_statistics_

Definition at line 93 of file joint.h.

double pr2_mechanism_model::JointState::measured_effort_

The measured joint effort in Nm or N (read-only variable)

Definition at line 90 of file joint.h.

double pr2_mechanism_model::JointState::position_

The joint position in radians or meters (read-only variable)

Definition at line 84 of file joint.h.

double pr2_mechanism_model::JointState::reference_position_

The position of the optical flag that was used to calibrate this joint.

Definition at line 102 of file joint.h.

double pr2_mechanism_model::JointState::velocity_

The joint velocity in randians/sec or meters/sec (read-only variable)

Definition at line 87 of file joint.h.

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