Function joint_limits::compute_effort_limits
Defined in File joint_limits_helpers.hpp
Function Documentation
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EffortLimits joint_limits::compute_effort_limits(const joint_limits::JointLimits &limits, const std::optional<double> &act_pos, const std::optional<double> &act_vel, double)
Computes the effort limits based on the position and velocity limits.
- Parameters:
limits – The joint limits.
act_pos – The actual position of the joint.
act_vel – The actual velocity of the joint.
dt – The time step.
- Returns:
The effort limits, first is the lower limit and second is the upper limit.