Data structure containing configurable robot safety limits. More...

#include <safety.hpp>

Public Attributes
std::map< JointGroup, std::vector< double > >	q_min = {}

std::map< JointGroup, std::vector< double > >	q_max = {}

std::map< JointGroup, std::vector< double > >	dq_max_normal = {}

std::map< JointGroup, std::vector< double > >	dq_max_reduced = {}

Detailed Description

Data structure containing configurable robot safety limits.

Definition at line 20 of file safety.hpp.

Member Data Documentation

◆ dq_max_normal

std::map<JointGroup, std::vector<double> > flexiv::rdk::SafetyLimits::dq_max_normal = {}

Upper safety limits of joint velocities for each joint group when the robot is in normal state: \( \dot{q}^{normal}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).

Definition at line 32 of file safety.hpp.

◆ dq_max_reduced

std::map<JointGroup, std::vector<double> > flexiv::rdk::SafetyLimits::dq_max_reduced = {}

Upper safety limits of joint velocities for each joint group when the robot is in reduced state: \( \dot{q}^{reduced}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \).

See also: Robot::reduced()

Definition at line 37 of file safety.hpp.

◆ q_max

std::map<JointGroup, std::vector<double> > flexiv::rdk::SafetyLimits::q_max = {}

Upper safety limits of joint positions for each joint group: \( q_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).

Definition at line 28 of file safety.hpp.

◆ q_min

std::map<JointGroup, std::vector<double> > flexiv::rdk::SafetyLimits::q_min = {}

Lower safety limits of joint positions for each joint group: \( q_{min} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \).

Definition at line 24 of file safety.hpp.

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