franka::PositionBasedJointVelocityLimitConstants Struct Reference

Structure to hold position-based joint velocity limit constants for a single joint from URDF. More...

#include <joint_velocity_limits.h>

Public Member Functions
	PositionBasedJointVelocityLimitConstants (double max_velocity, double velocity_offset, double deceleration_limit, double upper_position_limit, double lower_position_limit)
	Constructor with specified parameters.

Public Attributes
double	max_velocity
double	velocity_offset
double	deceleration_limit
double	upper_position_limit
double	lower_position_limit

Detailed Description

Structure to hold position-based joint velocity limit constants for a single joint from URDF.

These parameters define velocity limits that depend on the current joint position.

Constructor & Destructor Documentation

PositionBasedJointVelocityLimitConstants()

franka::PositionBasedJointVelocityLimitConstants::PositionBasedJointVelocityLimitConstants ( double  max_velocity, double  velocity_offset, double  deceleration_limit, double  upper_position_limit, double  lower_position_limit  )

inline

Constructor with specified parameters.

Parameters

max_velocity	Maximum velocity
velocity_offset	Velocity offset parameter
deceleration_limit	Deceleration limit parameter
upper_position_limit	Upper position limit
lower_position_limit	Lower position limit

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

• include/franka/joint_velocity_limits.h