Function joint_limits::compute_effort_limits

Function Documentation

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.