Function joint_limits::compute_position_limits

Function Documentation

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.