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compute_upper_limits_joint_velocity

franka::rate_limiting

Function compute_upper_limits_joint_velocity 

Source 
pub fn compute_upper_limits_joint_velocity(q: &[f64; 7]) -> [f64; 7]
Expand description

Computes the maximum joint velocity based on joint position.

Port of the (deprecated) franka::computeUpperLimitsJointVelocity, which hardcodes the FR3 parameters. Prefer crate::joint_velocity_limits::JointVelocityLimitsConfig::upper_limits, which reads the same parameters from the robot’s URDF.