Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Added minPayload, maxPayload and maxVelocity

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-10 13:43:58 +02:00
parent 1c2b3ad259
commit 017810c30f
3 changed files with 23 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
include/ur_modern_driver/ur_driver.h
View File

@@ -21,6 +21,9 @@
class UrDriver {
private:
double maximum_time_step_;
double maximum_velocity_;
double minimum_payload_;
double maximum_payload_;
std::vector<std::string> joint_names_;
public:
UrRealtimeCommunication* rt_interface_;
@@ -47,7 +50,11 @@ public:
void setFlag(unsigned int n, bool b);
void setDigitalOut(unsigned int n, bool b);
void setAnalogOut(unsigned int n, double f);
void setPayloaf(double m);
void setPayload(double m);
void setMaxVel(double vel);
void setMinPayload(double m);
void setMaxPayload(double m);
};