Function franka::computeLowerLimitsJointVelocity
Defined in File rate_limiting.h
Function Documentation
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inline std::array<double, 7> franka::computeLowerLimitsJointVelocity(const std::array<double, 7> &q)
Computes the minimum joint velocity based on joint position
Note
The implementation is based on https://frankaemika.github.io/docs/control_parameters.html#limits-for-franka-research-3.
- Parameters:
q – [in] joint position.
- Returns:
Lower limits of joint velocity at the given joint position.