Struct JointLimit
Defined in File trossen_arm_type.hpp
Struct Documentation
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struct JointLimit
Joint limit.
Public Members
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double position_min = {0.0}
Minimum position in rad for arm joints and m for gripper.
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double position_max = {0.0}
Maximum position in rad for arm joints and m for gripper.
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double position_tolerance = {0.0}
Tolerance on output position in rad for arm joints and m for gripper.
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double velocity_max = {0.0}
Maximum velocity in rad/s for arm joints and m/s for gripper.
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double velocity_tolerance = {0.0}
Tolerance on output velocity in rad/s for arm joints and m/s for gripper.
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double effort_max = {0.0}
Maximum effort in Nm for arm joints and N for gripper.
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double effort_tolerance = {0.0}
Tolerance on output effort in Nm for arm joints and N for gripper.
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double position_min = {0.0}