upkie.model.joint_limit.JointLimit Class Reference

Joint limit in configuration and tangent spaces. More...

Public Member Functions
def	__init__ (self, float lower, float upper, float velocity, float effort)
	Manual constructor for joint limits. More...

Public Attributes
	lower
	Lower configuration limit of the joint, in radians.
	upper
	Upper configuration limit of the joint, in radians.
	velocity
	Velocity limit of the joint, in [rad] / [s].
	effort
	Torque limit of the joint, in [N m].

Detailed Description

Joint limit in configuration and tangent spaces.

Attributes of this class match the URDF specification.

Constructor & Destructor Documentation

__init__()

def upkie.model.joint_limit.JointLimit.__init__	(		self,
		float	lower,
		float	upper,
		float	velocity,
		float	effort
	)

Manual constructor for joint limits.

(We don't use a dataclass because Doxygen does not detect attribute-only declarations in Python as of version 1.9.1.)

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

• upkie/model/joint_limit.py