Function joint_limits::getJointLimits

• Defined in File joint_limits_urdf.hpp

Function Documentation

inline bool joint_limits::getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits &limits)

Populate a JointLimits instance from URDF joint data.

Parameters:

• urdf_joint – [in] URDF joint.

• limits – [out] Where URDF joint limit data gets written into. Limits in urdf_joint will overwrite existing values. Values in limits not present in urdf_joint remain unchanged.

Returns:

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