joint_limits_interface Namespace Reference

Classes
class	EffortJointSaturationHandle
class	EffortJointSoftLimitsHandle
	A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...
class	JointLimitHandle
class	JointLimitsInterfaceException
	An exception related to a JointLimitsInterface. More...
class	JointSoftLimitsHandle
class	PositionJointSaturationHandle
class	PositionJointSoftLimitsHandle
	A handle used to enforce position and velocity limits of a position-controlled joint. More...
class	VelocityJointSaturationHandle
	A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...
class	VelocityJointSoftLimitsHandle

Functions
bool	getJointLimits (urdf::JointConstSharedPtr urdf_joint, JointLimits &limits)
bool	getSoftJointLimits (urdf::JointConstSharedPtr urdf_joint, SoftJointLimits &soft_limits)

Detailed Description

Author

Adolfo Rodriguez Tsouroukdissian

Function Documentation

getJointLimits()

bool joint_limits_interface::getJointLimits ( urdf::JointConstSharedPtr  urdf_joint, JointLimits &  limits  )

inline

Populate a JointLimits instance from URDF joint data.

Parameters

[in]	urdf_joint	URDF joint.
[out]	limits	Where URDF joint limit data gets written into. Limits in urdf_joint will overwrite existing values. Values in limits not present in urdf_joint remain unchanged.

Returns

True if urdf_joint has a valid limits specification, false otherwise.

getSoftJointLimits()

bool joint_limits_interface::getSoftJointLimits ( urdf::JointConstSharedPtr  urdf_joint, SoftJointLimits &  soft_limits  )

inline

Populate a SoftJointLimits instance from URDF joint data.

Parameters

[in]	urdf_joint	URDF joint.
[out]	soft_limits	Where URDF soft joint limit data gets written into.

Returns

True if urdf_joint has a valid soft limits specification, false otherwise.