A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits. More...

Public Member Functions
void	enforceLimits (const ros::Duration &period)
	Enforce position and velocity limits for a joint that is not subject to soft limits. More...

std::string	getName () const

	PositionJointSaturationHandle (const hardware_interface::JointHandle &joint_handle, joint_limits_interface::JointLimits *limits)
	Construct the saturation handle with dynamic joint limits. More...

void	reset ()
	Reset the interface state. More...

Private Attributes
double	command_old_

hardware_interface::JointHandle	joint_handle_

joint_limits_interface::JointLimits *	limits_

Detailed Description

A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits.

Note: : The only difference from joint_limits_interface::PositionJointSaturationHandle is that this exploit a dynamical management of the joint limits, i.e. the limits can be modified at runtime by others.

Constructor & Destructor Documentation

qb_device_joint_limits_interface::PositionJointSaturationHandle::PositionJointSaturationHandle	(	const hardware_interface::JointHandle &	joint_handle,
		joint_limits_interface::JointLimits *	limits
	)

inline

Construct the saturation handle with dynamic joint limits.

Parameters

joint_handle	The joint handle of interest.
limits	The `pointer` to the joint limits structure of the joint.

void qb_device_joint_limits_interface::PositionJointSaturationHandle::enforceLimits ( const ros::Duration & period )

inline

Enforce position and velocity limits for a joint that is not subject to soft limits.

Parameters

period The control period.

std::string qb_device_joint_limits_interface::PositionJointSaturationHandle::getName ( ) const

inline

void qb_device_joint_limits_interface::PositionJointSaturationHandle::reset ( )

inline

Reset the interface state.

double qb_device_joint_limits_interface::PositionJointSaturationHandle::command_old_

private

hardware_interface::JointHandle qb_device_joint_limits_interface::PositionJointSaturationHandle::joint_handle_

private

joint_limits_interface::JointLimits* qb_device_joint_limits_interface::PositionJointSaturationHandle::limits_

private

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