JogLimitViolation¶

class pyniryo_nate.models.motion.JogLimitViolation(joint: int, position_limit_min: float, position_limit_max: float)[source]¶

Bases: object

The travel the jog controller allows on a joint, reported when a position increment was refused for ending past it. It is narrower than the position limits of RobotConfiguration: the controller keeps a margin on each side of a joint limit. A jog velocity is saturated on this travel instead of being refused, and is not reported.

Parameters:

joint (int) – Index of the joint, from 0.
position_limit_min (float) – The lowest position the jog controller lets this joint reach, in rad.
position_limit_max (float) – The highest position the jog controller lets this joint reach, in rad.

Attributes

`joint`
`position_limit_min`
`position_limit_max`

Methods

from_transport_model

joint: int¶

position_limit_min: float¶

position_limit_max: float¶

classmethod from_transport_model(model: JogLimitViolation) → JogLimitViolation[source]¶

Parameters:: model (JogLimitViolation)
Return type:: JogLimitViolation