Function joint_limits::getSoftJointLimits

• Defined in File joint_limits_urdf.hpp

Function Documentation

inline bool joint_limits::getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLimits &soft_limits)

Populate a SoftJointLimits instance from URDF joint data.

Parameters:

• urdf_joint – [in] URDF joint.

• soft_limits – [out] Where URDF soft joint limit data gets written into.

Returns:

True if urdf_joint has a valid soft limits specification, false otherwise.