class KinematicLimits

Member values

Member name	Data type	Description
control_mode	uint32	Control mode
twist_linear	float32	Linear twist limits
twist_angular	float32	Angular twist limits
joint_speed_limits	float32	Joint speed limits
joint_acceleration_limits	float32	Joint Acceleration limits

Member functions

Function name	Return type	Input type	Description
control_mode() const	uint32	void	Returns the current value of control_mode. If the control_mode is not set, returns 0.
set_control_mode()	void	uint32	Sets the value of control_mode. After calling this, control_mode() will return value.
clear_control_mode()	void	void	Clears the value of control_mode. After calling this, control_mode() will return the empty string/empty bytes.
twist_linear()	float32	void	Returns the current value of twist_linear. If the twist_linear is not set, returns 0.
set_twist_linear()	void	float32	Sets the value of twist_linear. After calling this, twist_linear() will return value.
clear_twist_linear()	void	void	Clears the value of twist_linear. After calling this, twist_linear() will return 0.
twist_angular()	float32	void	Returns the current value of twist_angular. If the twist_angular is not set, returns 0.
set_twist_angular()	void	float32	Sets the value of twist_angular. After calling this, twist_angular() will return value.
clear_twist_angular()	void	void	Clears the value of twist_angular. After calling this, twist_angular() will return 0.
joint_speed_limits_size() const	int	void	Returns the number of elements currently in the field.
joint_speed_limits() const	int	int index	Returns the element at the given zero-based index. Calling this method with index outside of [0, joint_speed_limits_size()) yields undefined behavior.
set_joint_speed_limits()	void	(int index, int32 value)	Sets the value of the element at the given zero-based index.
add_joint_speed_limits()	void	(int32 value)	Appends a new element to the field with the given value.
clear_joint_speed_limits()	void	void	Removes all elements from the field. After calling this, joint_speed_limits_size() will return zero.
joint_speed_limits() const	const RepeatedField<int32>&	void	Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
mutable_joint_speed_limits()	RepeatedField<int32>*	void	Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
joint_acceleration_limits_size() const	int	void	Returns the number of elements currently in the field.
joint_acceleration_limits() const	int	int index	Returns the element at the given zero-based index. Calling this method with index outside of [0, joint_acceleration_limits_size()) yields undefined behavior.
set_joint_acceleration_limits()	void	(int index, int32 value)	Sets the value of the element at the given zero-based index.
add_joint_acceleration_limits()	void	(int32 value)	Appends a new element to the field with the given value.
clear_joint_acceleration_limits()	void	void	Removes all elements from the field. After calling this, joint_acceleration_limits_size() will return zero.
joint_acceleration_limits() const	const RepeatedField<int32>&	void	Returns the underlying RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.
mutable_joint_acceleration_limits()	RepeatedField<int32>*	void	Returns a pointer to the underlying mutable RepeatedField that stores the field's elements. This container class provides STL-like iterators and other methods.

Parent topic: ControlConfig (C++)