Function moveit_servo::jointLimitVelocityScalingFactor

• Defined in File common.hpp

Function Documentation

double moveit_servo::jointLimitVelocityScalingFactor(const Eigen::VectorXd &velocities, const moveit::core::JointBoundsVector &joint_bounds, double scaling_override)

Apply velocity scaling based on joint limits. If the robot model does not have velocity limits defined, then a scale factor of 1.0 will be returned.

Parameters:

• velocities – The commanded velocities.

• joint_bounds – The bounding information for the robot joints.

• scaling_override – The user defined velocity scaling override.

Returns:

The velocity scaling factor.