Function franka::limitRate(double, double, double, double, double, double, double)
Defined in File rate_limiting.h
Function Documentation
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double franka::limitRate(double upper_limits_velocity, double lower_limits_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)
Limits the rate of a desired joint velocity considering the limits provided.
Note
FCI filters must be deactivated to work properly.
- Parameters:
upper_limits_velocity – [in] Upper limits of allowed velocity.
lower_limits_velocity – [in] Lower limits of allowed velocity.
max_acceleration – [in] Maximum allowed acceleration.
max_jerk – [in] Maximum allowed jerk.
commanded_velocity – [in] Commanded joint velocity of the current time step.
last_commanded_velocity – [in] Commanded joint velocity of the previous time step.
last_commanded_acceleration – [in] Commanded joint acceleration of the previous time step.
- Throws:
std::invalid_argument – if commanded_velocity is infinite or NaN.
- Returns:
Rate-limited desired joint velocity.