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getJointLimitsEnabled() instead.Get whether user-specified joint limits during
handguiding motion are enabled. The returned value may be null, if the user has not enabled or
disabled specific joints yet.
getJointLimitsMax() instead. Get joint limits during handguiding motion in positive
direction. The returned value may be null, if
no user-specified joint limits in positive direction have been set yet.
getJointLimitsMin() instead. Get joint limits during handguiding motion in negative
direction. The returned value may be null, if no user-specified joint limits in negative direction
have been set yet.
getJointVelocityLimit() instead. Get allowed joint velocity.
When this velocity limit is exceeded a damping effect is applied (opposing torque).
HandGuidingMotion with no parameters.
HandGuidingControlMode.HandGuidingMotion.HandGuidingModule and creates the available ports.
HandGuidingMotion with the default hand guiding control mode.
isJointLimitViolationFreezesAll() instead. Get whether on joint limit violation all
joints should be frozen.
setJointLimitsEnabled(boolean...) instead. Set whether user-specified joint limits
during handguiding motion are enabled.
setJointLimitsMax(double...) instead. Set joint limits during handguiding motion in
positive direction.
setJointLimitsMin(double...) instead. Set joint limits during handguiding motion
in negative direction.
setJointLimitViolationFreezesAll(boolean) instead. Set whether on joint limit violation
all joints should be frozen. If this value is not set, it
defaults to true.
setJointVelocityLimit(double) instead. Set the allowed joint velocity in rad/sec.
When this velocity limit is exceeded a damping effect is applied (opposing torque).
validateJointLimits(int) instead. Check if configured joint limits are consistent, and
throw an IllegalArgumentException otherwise.
IllegalArgumentException otherwise.
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