franka::JointVelocityLimitsConfig Class Reference

Configuration class that holds position-based joint velocity limit parameters for all 7 joints. More...

#include <joint_velocity_limits.h>

Public Member Functions
	JointVelocityLimitsConfig (const std::string &urdf_string)
	Constructor that parses URDF string and initializes joint parameters.
const PositionBasedJointVelocityLimitConstants &	operator[] (size_t joint_index) const
	Get joint parameters for a specific joint.
const std::array< PositionBasedJointVelocityLimitConstants, kNumJoints > &	getJointParams () const
	Get all joint parameters.
std::array< double, kNumJoints >	getUpperJointVelocityLimits (const std::array< double, kNumJoints > &joint_positions) const
	Compute upper joint velocity limits based on current joint positions.
std::array< double, kNumJoints >	getLowerJointVelocityLimits (const std::array< double, kNumJoints > &joint_positions) const
	Compute lower joint velocity limits based on current joint positions.

Static Public Attributes
static constexpr int	kNumJoints = 7

Detailed Description

Configuration class that holds position-based joint velocity limit parameters for all 7 joints.

This class handles parsing URDF data, storing joint configurations, and computing velocity limits.

Constructor & Destructor Documentation

JointVelocityLimitsConfig()

franka::JointVelocityLimitsConfig::JointVelocityLimitsConfig ( const std::string &  urdf_string )

inlineexplicit

Constructor that parses URDF string and initializes joint parameters.

Parameters

urdf_string

The URDF string to parse for joint velocity limit parameters

Member Function Documentation

getJointParams()

const std::array< PositionBasedJointVelocityLimitConstants, kNumJoints > & franka::JointVelocityLimitsConfig::getJointParams ( ) const

inline

Get all joint parameters.

Returns

Array of joint velocity limit parameters for all joints

getLowerJointVelocityLimits()

std::array< double, kNumJoints > franka::JointVelocityLimitsConfig::getLowerJointVelocityLimits

(

const std::array< double, kNumJoints > &

joint_positions

)

const

Compute lower joint velocity limits based on current joint positions.

Parameters

joint_positions

Current joint positions

Returns

Array of lower velocity limits for each joint

getUpperJointVelocityLimits()

std::array< double, kNumJoints > franka::JointVelocityLimitsConfig::getUpperJointVelocityLimits

(

const std::array< double, kNumJoints > &

joint_positions

)

const

Compute upper joint velocity limits based on current joint positions.

Parameters

joint_positions

Current joint positions

Returns

Array of upper velocity limits for each joint

operator[]()

const PositionBasedJointVelocityLimitConstants & franka::JointVelocityLimitsConfig::operator[] ( size_t  joint_index ) const

inline

Get joint parameters for a specific joint.

Parameters

joint_index

Index of the joint (0-6)

Returns

Joint velocity limit parameters for the specified joint

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

• include/franka/joint_velocity_limits.h