joint_limits_interface::EffortJointSoftLimitsHandle Class Reference

A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...

#include <joint_limits_interface.hpp>

Inheritance diagram for joint_limits_interface::EffortJointSoftLimitsHandle:

Collaboration diagram for joint_limits_interface::EffortJointSoftLimitsHandle:

Public Member Functions
	EffortJointSoftLimitsHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jvelh, const hardware_interface::JointHandle &jcmdh, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits &soft_limits)
	EffortJointSoftLimitsHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jcmdh, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits &soft_limits)
void	enforce_limits (const rclcpp::Duration &period) override
	Enforce position, velocity and effort limits for a joint subject to soft limits.
Public Member Functions inherited from joint_limits_interface::JointSoftLimitsHandle
	JointSoftLimitsHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jcmdh, const JointLimits &limits, const SoftJointLimits &soft_limits)
	JointSoftLimitsHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jvelh, const hardware_interface::JointHandle &jcmdh, const JointLimits &limits, const SoftJointLimits &soft_limits)
Public Member Functions inherited from joint_limits_interface::JointLimitHandle
	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	reset ()
	Clear stored state, causing it to reset next iteration.

Additional Inherited Members
Protected Member Functions inherited from joint_limits_interface::JointLimitHandle
double	get_velocity (const rclcpp::Duration &period) const
	Return velocity for limit calculations.
Protected Attributes inherited from joint_limits_interface::JointSoftLimitsHandle
joint_limits_interface::SoftJointLimits	soft_limits_
Protected Attributes inherited from joint_limits_interface::JointLimitHandle
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

A handle used to enforce position, velocity and effort limits of an effort-controlled joint.

Member Function Documentation

enforce_limits()

void joint_limits_interface::EffortJointSoftLimitsHandle::enforce_limits ( const rclcpp::Duration &  period )

inlineoverridevirtual

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.

Parameters

[in]

period

Control period.

Implements joint_limits_interface::JointLimitHandle.

---

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

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