Inheritance diagram for joint_limits_interface::PositionJointSaturationHandle:

Collaboration diagram for joint_limits_interface::PositionJointSaturationHandle:

Public Member Functions
	PositionJointSaturationHandle (const hardware_interface::JointHandle &jposh, const hardware_interface::JointHandle &jcmdh, const JointLimits &limits)

void	enforce_limits (const rclcpp::Duration &period)
	Enforce position and velocity limits for a joint that is not subject to 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::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 and velocity limits of a position-controlled joint that does not have soft limits.

Member Function Documentation

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

inlinevirtual

Enforce position and velocity limits for a joint that is not subject to soft limits.

Parameters

[in] period Control period.

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

ros2_control/joint_limits_interface/include/joint_limits_interface/joint_limits_interface.hpp