Struct JointLimit

Struct Documentation

struct JointLimit

Joint limit.

Public Members

double position_min

Minimum position in rad for arm joints and m for gripper.

double position_max

Maximum position in rad for arm joints and m for gripper.

double position_tolerance

Tolerance on output position in rad for arm joints and m for gripper.

double velocity_max

Maximum velocity in rad/s for arm joints and m/s for gripper.

double velocity_tolerance

Tolerance on output velocity in rad/s for arm joints and m/s for gripper.

double effort_max

Maximum effort in Nm for arm joints and N for gripper.

double effort_tolerance

Tolerance on output effort in Nm for arm joints and N for gripper.