Inheritance diagram for joint_limits_interface::JointSoftLimitsHandle:

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Collaboration diagram for joint_limits_interface::JointSoftLimitsHandle:

Public Member Functions
	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	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 Attributes
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_

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.

Detailed Description

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

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

ros2_control/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.hpp

Public Member Functions