A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...

Public Member Functions
	EffortJointSoftLimitsHandle ()

	EffortJointSoftLimitsHandle (const hardware_interface::JointHandle &jh, const JointLimits &limits, const SoftJointLimits &soft_limits)

void	enforceLimits (const ros::Duration &)
	Enforce position, velocity and effort limits for a joint subject to soft limits. More...

std::string	getName () const

Private Attributes
hardware_interface::JointHandle	jh_

JointLimits	limits_

SoftJointLimits	soft_limits_

Detailed Description

A handle used to enforce position, velocity and effort limits of an effort-controlled joint.

Definition at line 320 of file joint_limits_interface.h.

Constructor & Destructor Documentation

joint_limits_interface::EffortJointSoftLimitsHandle::EffortJointSoftLimitsHandle ( )

inline

Definition at line 323 of file joint_limits_interface.h.

joint_limits_interface::EffortJointSoftLimitsHandle::EffortJointSoftLimitsHandle	(	const hardware_interface::JointHandle &	jh,
		const JointLimits &	limits,
		const SoftJointLimits &	soft_limits
	)

inline

Definition at line 325 of file joint_limits_interface.h.

void joint_limits_interface::EffortJointSoftLimitsHandle::enforceLimits ( const ros::Duration & )

inline

Enforce position, velocity and effort limits for a joint subject to soft limits.

If the joint has no position limits (eg. a continuous joint), only velocity and effort limits will be enforced.

Definition at line 352 of file joint_limits_interface.h.

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

inline

Definition at line 345 of file joint_limits_interface.h.

hardware_interface::JointHandle joint_limits_interface::EffortJointSoftLimitsHandle::jh_

private

Definition at line 399 of file joint_limits_interface.h.

JointLimits joint_limits_interface::EffortJointSoftLimitsHandle::limits_

private

Definition at line 400 of file joint_limits_interface.h.

SoftJointLimits joint_limits_interface::EffortJointSoftLimitsHandle::soft_limits_

private

Definition at line 401 of file joint_limits_interface.h.

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