Class JointSoftLimiter
Defined in File joint_soft_limiter.hpp
Inheritance Relationships
Base Type
public joint_limits::JointSaturationLimiter< JointControlInterfacesData >
(Template Class JointSaturationLimiter)
Class Documentation
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class JointSoftLimiter : public joint_limits::JointSaturationLimiter<JointControlInterfacesData>
Public Functions
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inline virtual bool on_init() override
Method is realized by an implementation.
Implementation-specific initialization of limiter’s internal states and libraries.
- Returns:
true if initialization was successful, otherwise false.
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bool on_enforce(const JointControlInterfacesData &actual, JointControlInterfacesData &desired, const rclcpp::Duration &dt) override
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inline bool has_soft_position_limits(const joint_limits::SoftJointLimits &soft_joint_limits)
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inline bool has_soft_limits(const joint_limits::SoftJointLimits &soft_joint_limits)
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inline virtual bool on_init() override