enforce_limits.hpp

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/*******************************************************************************
 *      Title     : enforce_limits.h
 *      Project   : moveit_servo
 *      Created   : 7/5/2021
 *      Author    : Brian O'Neil, Andy Zelenak, Blake Anderson, Tyler Weaver
 *
 * BSD 3-Clause License
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 * Copyright (c) 2019, Los Alamos National Security, LLC
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#pragma once
 
#include <Eigen/Core>
#include <sensor_msgs/msg/joint_state.hpp>
 
#include <moveit/robot_model/joint_model_group.h>
 
namespace moveit_servo
{
void 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);
 
}  // namespace moveit_servo