Function joint_limits::compute_velocity_limits

Function Documentation

VelocityLimits joint_limits::compute_velocity_limits(const std::string &joint_name, const joint_limits::JointLimits &limits, const double &desired_vel, const std::optional<double> &act_pos, const std::optional<double> &prev_command_vel, double dt)

Computes the velocity limits based on the position and acceleration limits.

Parameters:
  • joint_name – The name of the joint.

  • limits – The joint limits.

  • act_pos – The actual position of the joint.

  • prev_command_vel – The previous commanded velocity of the joint.

  • dt – The time step.

Returns:

The velocity limits, first is the lower limit and second is the upper limit.