Function franka::limitRate(const std::array<double, 7>&, const std::array<double, 7>&, const std::array<double, 7>&)
Defined in File rate_limiting.h
Function Documentation
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std::array<double, 7> franka::limitRate(const std::array<double, 7> &max_derivatives, const std::array<double, 7> &commanded_values, const std::array<double, 7> &last_commanded_values)
Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives.
Note
FCI filters must be deactivated to work properly.
- Parameters:
max_derivatives – [in] Per-joint maximum allowed time derivative.
commanded_values – [in] Commanded values of the current time step.
last_commanded_values – [in] Commanded values of the previous time step.
- Throws:
std::invalid_argument – if commanded_values are infinite or NaN.
- Returns:
Rate-limited vector of desired values.