Public Member Functions | Private Attributes
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_

Detailed Description

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

Definition at line 322 of file joint_limits_interface.h.


Constructor & Destructor Documentation

Definition at line 325 of file joint_limits_interface.h.

Definition at line 327 of file joint_limits_interface.h.


Member Function Documentation

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 354 of file joint_limits_interface.h.

Returns:
Joint name.

Definition at line 347 of file joint_limits_interface.h.


Member Data Documentation

Definition at line 401 of file joint_limits_interface.h.

Definition at line 402 of file joint_limits_interface.h.

Definition at line 403 of file joint_limits_interface.h.


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


joint_limits_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Sat Jun 8 2019 20:09:27