Struct JointLimits

• Defined in File types.hpp

Struct Documentation

struct JointLimits

Contains joint limit information.

Values are all vectorized to denote multi-DOF joints.

Public Members

Eigen::VectorXd min_position

The minimum positions of the joint.

Eigen::VectorXd max_position

The maximum positions of the joint.

Eigen::VectorXd max_velocity

The maximum (symmetric) velocities of the joint.

Eigen::VectorXd max_acceleration

The maximum (symmetric) accelerations of the joint.

Eigen::VectorXd max_jerk

The maximum (symmetric) jerks of the joint.