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