lmc_tg_limit Struct Reference

Limitation data structure for trajectory generator. More...

#include <lmc_tg_config.h>

Data Fields
double	jnt_max_v [LMC_MAX_JOINT_NUM]
double	jnt_max_acc [LMC_MAX_JOINT_NUM]
double	jnt_pos_positive_limit [LMC_MAX_JOINT_NUM]
double	jnt_pos_negative_limit [LMC_MAX_JOINT_NUM]
double	jnt_corner_dec_max_acc [LMC_MAX_JOINT_NUM]
double	jnt_corner_dec_max_delta_vel [LMC_MAX_JOINT_NUM]
double	cartesian_max_v
double	cartesian_max_acc
double	cartesian_max_rot_v
double	cartesian_max_rot_acc
unsigned int	jnt_acc_time_constant

Detailed Description

Limitation data structure for trajectory generator.

Note

Same as limit_param in lebai_kdl.

Examples:

example_tg.cc.

Definition at line 27 of file lmc_tg_config.h.

Field Documentation

double cartesian_max_acc

Maximum cartesian translation acc

Examples:

example_tg.cc.

Definition at line 35 of file lmc_tg_config.h.

double cartesian_max_rot_acc

Maximum cartesian rotation acc

Examples:

example_tg.cc.

Definition at line 37 of file lmc_tg_config.h.

double cartesian_max_rot_v

Maximum cartesian rotation vel

Examples:

example_tg.cc.

Definition at line 36 of file lmc_tg_config.h.

double cartesian_max_v

Maximum cartesian translation vel

Examples:

example_tg.cc.

Definition at line 34 of file lmc_tg_config.h.

unsigned int jnt_acc_time_constant

Time constant based on cycle time，now only work on PIECEWISE mode.

Examples:

example_tg.cc.

Definition at line 38 of file lmc_tg_config.h.

double jnt_corner_dec_max_acc[LMC_MAX_JOINT_NUM]

Not used keep it

Definition at line 32 of file lmc_tg_config.h.

double jnt_corner_dec_max_delta_vel[LMC_MAX_JOINT_NUM]

Not used keep it

Definition at line 33 of file lmc_tg_config.h.

double jnt_max_acc[LMC_MAX_JOINT_NUM]

Maximum joint acceleration

Examples:

example_tg.cc.

Definition at line 29 of file lmc_tg_config.h.

double jnt_max_v[LMC_MAX_JOINT_NUM]

Maximum joint velocity

Examples:

example_tg.cc.

Definition at line 28 of file lmc_tg_config.h.

double jnt_pos_negative_limit[LMC_MAX_JOINT_NUM]

Joint position negative limit

Examples:

example_tg.cc.

Definition at line 31 of file lmc_tg_config.h.

double jnt_pos_positive_limit[LMC_MAX_JOINT_NUM]

Joint position positive limit

Examples:

example_tg.cc.

Definition at line 30 of file lmc_tg_config.h.

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

• lmc_tg_config.h