Class JointToleranceMessage

The tolerances specify the amount the position, velocity, and accelerations can vary from the setpoints. For example, in the case of trajectory control, when the actual position varies beyond (desired position + position tolerance), the trajectory goal may abort.

There are two special values for tolerances:

  • 0 - The tolerance is unspecified and will remain at whatever the default is
  • -1 - The tolerance is "erased". If there was a default, the joint will be allowed to move without restriction.
Inheritance
System.Object
JointToleranceMessage
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Namespace: ZO.ROS.MessageTypes.Control
Assembly: Unity.ZeroSim.dll
Syntax
public class JointToleranceMessage : ZOROSMessageInterface

Constructors

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JointToleranceMessage()

Declaration
public JointToleranceMessage()
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JointToleranceMessage(Double, Double, Double)

Declaration
public JointToleranceMessage(double position, double velocity, double acceleration)
Parameters
Type Name Description
System.Double position
System.Double velocity
System.Double acceleration

Fields

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Type

Declaration
[JsonIgnore]
public static string Type
Field Value
Type Description
System.String

Properties

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acceleration

in rad/sec^2 or m/sec^2

Declaration
public double acceleration { get; set; }
Property Value
Type Description
System.Double
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MessageType

Declaration
[JsonIgnore]
public string MessageType { get; }
Property Value
Type Description
System.String
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position

in radians or meters (for a revolute or prismatic joint, respectively)

Declaration
public double position { get; set; }
Property Value
Type Description
System.Double
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velocity

in rad/sec or m/sec

Declaration
public double velocity { get; set; }
Property Value
Type Description
System.Double

Implements