Function joint_limits::compute_velocity_limits
Defined in File joint_limits_helpers.hpp
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.