Function joint_limits::compute_acceleration_limits

Function Documentation

AccelerationLimits joint_limits::compute_acceleration_limits(const JointLimits &limits, double desired_acceleration, std::optional<double> actual_velocity)

Computes the acceleration limits based on the change in velocity and acceleration and deceleration limits.

Parameters:
  • limits – The joint limits.

  • desired_acceleration – The desired acceleration.

  • actual_velocity – The actual velocity of the joint.

Returns:

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