Class JointSoftLimiter

Inheritance Relationships

Base Type

Class Documentation

class JointSoftLimiter : public joint_limits::JointSaturationLimiter<JointControlInterfacesData>

Public Functions

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.

bool on_enforce(const JointControlInterfacesData &actual, JointControlInterfacesData &desired, const rclcpp::Duration &dt) override
inline bool has_soft_position_limits(const joint_limits::SoftJointLimits &soft_joint_limits)
inline bool has_soft_limits(const joint_limits::SoftJointLimits &soft_joint_limits)