joint_limits_interface::JointLimitHandle Class Reference

#include <joint_limits_interface.hpp>

Inheritance diagram for joint_limits_interface::JointLimitHandle:

Collaboration diagram for joint_limits_interface::JointLimitHandle:

Public Member Functions
	JointLimitHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jcmdh, const JointLimits &limits)
	JointLimitHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jvelh, const hardware_interface::JointHandle &jcmdh, const JointLimits &limits)
std::string	get_name () const
virtual void	enforce_limits (const rclcpp::Duration &period)=0
	Sub-class implementation of limit enforcing policy.
virtual void	reset ()
	Clear stored state, causing it to reset next iteration.

Protected Member Functions
double	get_velocity (const rclcpp::Duration &period) const
	Return velocity for limit calculations.

Protected Attributes
hardware_interface::JointHandle	jposh_
hardware_interface::JointHandle	jvelh_
hardware_interface::JointHandle	jcmdh_
joint_limits_interface::JointLimits	limits_
double	prev_pos_
double	prev_vel_

Detailed Description

The base class of limit handles for enforcing position, velocity, and effort limits of an effort-controlled joint.

Member Function Documentation

enforce_limits()

virtual void joint_limits_interface::JointLimitHandle::enforce_limits ( const rclcpp::Duration &  period )

pure virtual

Sub-class implementation of limit enforcing policy.

Implemented in joint_limits_interface::PositionJointSaturationHandle, joint_limits_interface::VelocityJointSoftLimitsHandle, joint_limits_interface::PositionJointSoftLimitsHandle, joint_limits_interface::EffortJointSaturationHandle, joint_limits_interface::EffortJointSoftLimitsHandle, and joint_limits_interface::VelocityJointSaturationHandle.

get_name()

std::string joint_limits_interface::JointLimitHandle::get_name ( ) const

inline

Returns

Joint name.

get_velocity()

double joint_limits_interface::JointLimitHandle::get_velocity ( const rclcpp::Duration &  period ) const

inlineprotected

Return velocity for limit calculations.

Parameters

period

Time since last measurement

Returns

the velocity, from state if available, otherwise from previous position history.

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

• ros2_control/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.hpp