joint_limits_interface::EffortJointSoftLimitsHandle Class Reference

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

#include <joint_limits_interface.h>

List of all members.

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.
std::string	getName () const
Private Attributes
hardware_interface::JointHandle	jh_
JointLimits	limits_
SoftJointLimits	soft_limits_

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Detailed Description

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

Definition at line 310 of file joint_limits_interface.h.

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Constructor & Destructor Documentation

joint_limits_interface::EffortJointSoftLimitsHandle::EffortJointSoftLimitsHandle

(

)

[inline]

Definition at line 313 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 315 of file joint_limits_interface.h.

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Member Function Documentation

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 342 of file joint_limits_interface.h.

std::string joint_limits_interface::EffortJointSoftLimitsHandle::getName

(

)

const [inline]

Returns:

Joint name.

Definition at line 335 of file joint_limits_interface.h.

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Member Data Documentation

hardware_interface::JointHandle joint_limits_interface::EffortJointSoftLimitsHandle::jh_ [private]

Definition at line 389 of file joint_limits_interface.h.

JointLimits joint_limits_interface::EffortJointSoftLimitsHandle::limits_ [private]

Definition at line 390 of file joint_limits_interface.h.

SoftJointLimits joint_limits_interface::EffortJointSoftLimitsHandle::soft_limits_ [private]

Definition at line 391 of file joint_limits_interface.h.

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

• joint_limits_interface.h