Function joint_limits::compute_acceleration_limits
Defined in File joint_limits_helpers.hpp
Function Documentation
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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.