ros_ethercat_model::JointState Class Reference

#include <joint.hpp>

List of all members.

Public Member Functions
void	enforceLimits ()
	Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.
void	getLimits (double &effort_low, double &effort_high)
	Returns the safety effort limits given the current position and velocity.
	JointState ()
	Constructor.
Public Attributes
bool	calibrated_
	Indicates if the joint has been calibrated or not.
double	commanded_effort_
	The effort the joint should apply in Nm or N (write-to variable)
boost::shared_ptr< const urdf::Joint >	joint_
	A pointer to the corresponding urdf::Joint from the urdf::Model.
JointStatistics	joint_statistics_
double	measured_effort_
	The measured joint effort in Nm or N (read-only variable)
double	position_
	The joint position in radians or meters (read-only variable)
double	reference_position_
	The position of the optical flag that was used to calibrate this joint.
double	velocity_
	The joint velocity in radians/sec or meters/sec (read-only variable)

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Detailed Description

Definition at line 92 of file joint.hpp.

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Constructor & Destructor Documentation

ros_ethercat_model::JointState::JointState

(

)

[inline]

Constructor.

Definition at line 169 of file joint.hpp.

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Member Function Documentation

void ros_ethercat_model::JointState::enforceLimits

(

)

[inline]

Modify the commanded_effort_ of the joint state so that the joint limits are satisfied.

Definition at line 96 of file joint.hpp.

void ros_ethercat_model::JointState::getLimits	(	double &	effort_low,
		double &	effort_high
	)		[inline]

Returns the safety effort limits given the current position and velocity.

Definition at line 107 of file joint.hpp.

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Member Data Documentation

bool ros_ethercat_model::JointState::calibrated_

Indicates if the joint has been calibrated or not.

Definition at line 163 of file joint.hpp.

double ros_ethercat_model::JointState::commanded_effort_

The effort the joint should apply in Nm or N (write-to variable)

Definition at line 160 of file joint.hpp.

boost::shared_ptr<const urdf::Joint> ros_ethercat_model::JointState::joint_

A pointer to the corresponding urdf::Joint from the urdf::Model.

Definition at line 145 of file joint.hpp.

JointStatistics ros_ethercat_model::JointState::joint_statistics_

Definition at line 157 of file joint.hpp.

double ros_ethercat_model::JointState::measured_effort_

The measured joint effort in Nm or N (read-only variable)

Definition at line 154 of file joint.hpp.

double ros_ethercat_model::JointState::position_

The joint position in radians or meters (read-only variable)

Definition at line 148 of file joint.hpp.

double ros_ethercat_model::JointState::reference_position_

The position of the optical flag that was used to calibrate this joint.

Definition at line 166 of file joint.hpp.

double ros_ethercat_model::JointState::velocity_

The joint velocity in radians/sec or meters/sec (read-only variable)

Definition at line 151 of file joint.hpp.

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

• joint.hpp