rm_control::HybridJointSoftLimitsHandle Class Reference

#include <hybrid_joint_limits_interface.h>

Public Member Functions
	HybridJointSoftLimitsHandle ()=default
	HybridJointSoftLimitsHandle (const rm_control::HybridJointHandle &hjh, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits &soft_limits)
std::string	getName () const
void	enforceLimits (const ros::Duration &period)
	Enforce position, velocity and effort limits for a joint subject to soft limits.
void	reset ()
	Reset state, in case of mode switch or e-stop.

Constructor & Destructor Documentation

HybridJointSoftLimitsHandle() [1/2]

rm_control::HybridJointSoftLimitsHandle::HybridJointSoftLimitsHandle ( )

default

HybridJointSoftLimitsHandle() [2/2]

rm_control::HybridJointSoftLimitsHandle::HybridJointSoftLimitsHandle ( const rm_control::HybridJointHandle & hjh, const joint_limits_interface::JointLimits & limits, const joint_limits_interface::SoftJointLimits & soft_limits )

inline

Member Function Documentation

enforceLimits()

void rm_control::HybridJointSoftLimitsHandle::enforceLimits ( const ros::Duration & period )

inline

Enforce position, velocity and effort limits for a joint subject to soft limits.

If the joint has no position limits (eg. a continuous joint), only velocity and effort limits will be enforced.

getName()

std::string rm_control::HybridJointSoftLimitsHandle::getName ( ) const

inline

Returns

Joint name.

reset()

void rm_control::HybridJointSoftLimitsHandle::reset ( )

inline

Reset state, in case of mode switch or e-stop.

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The documentation for this class was generated from the following file:

• rm_common/include/rm_common/joint_limits_interface/hybrid_joint_limits_interface.h