valueDataCheckerParameters.setMinimumValue(lowerLimit - limitAdjustment); valueDataCheckerParameters.setMaximumDerivative((1.0 + TOLERANCE_FACTOR)* joint.getVelocityLimit()); valueDataCheckerParameters.setMaximumSecondDerivative(joint.getVelocityLimit()/ MINIMUM_TIME_TO_ACCLERATE);
private final Limit createJointLimit(OneDegreeOfFreedomJoint scsJoint) { Limit sdfJointLimit = new Limit(); String effort = String.valueOf(scsJoint.getTorqueLimit()); sdfJointLimit.setEffort(effort); String velocity = String.valueOf(scsJoint.getVelocityLimit()); sdfJointLimit.setVelocity(velocity); String lower = String.valueOf(scsJoint.getJointLowerLimit()); sdfJointLimit.setLower(lower); String upper = String.valueOf(scsJoint.getJointUpperLimit()); sdfJointLimit.setUpper(upper); double jointRange = scsJoint.getJointUpperLimit() - scsJoint.getJointLowerLimit(); if (jointRange == 0.0) PrintTools.debug(this, scsJoint.getName() + " upper joint limit equals lower joint limit!"); return sdfJointLimit; }
private final Limit createJointLimit(OneDegreeOfFreedomJoint scsJoint) { Limit sdfJointLimit = new Limit(); String effort = String.valueOf(scsJoint.getTorqueLimit()); sdfJointLimit.setEffort(effort); String velocity = String.valueOf(scsJoint.getVelocityLimit()); sdfJointLimit.setVelocity(velocity); String lower = String.valueOf(scsJoint.getJointLowerLimit()); sdfJointLimit.setLower(lower); String upper = String.valueOf(scsJoint.getJointUpperLimit()); sdfJointLimit.setUpper(upper); double jointRange = scsJoint.getJointUpperLimit() - scsJoint.getJointLowerLimit(); if (jointRange == 0.0) PrintTools.debug(this, scsJoint.getName() + " upper joint limit equals lower joint limit!"); return sdfJointLimit; }