enforce_limits.hpp File Reference

#include <Eigen/Core>
#include <sensor_msgs/msg/joint_state.hpp>
#include <moveit/robot_model/joint_model_group.h>

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Namespaces
	moveit_servo

Functions
void	moveit_servo::enforceVelocityLimits (const moveit::core::JointModelGroup *joint_model_group, const double publish_period, sensor_msgs::msg::JointState &joint_state, const double override_velocity_scaling_factor=0.0)
	Decrease robot position change and velocity, if needed, to satisfy joint velocity limits. More...