Function limit_rate_cartesian_pose 

pub fn limit_rate_cartesian_pose(
    max_translational_velocity: f64,
    max_translational_acceleration: f64,
    max_translational_jerk: f64,
    max_rotational_velocity: f64,
    max_rotational_acceleration: f64,
    max_rotational_jerk: f64,
    O_T_EE_c: &[f64; 16],
    last_O_T_EE_c: &[f64; 16],
    last_O_dP_EE_c: &[f64; 6],
    last_O_ddP_EE_c: &[f64; 6],
) -> FrankaResult<[f64; 16]>

Limits the rate of a desired Cartesian pose considering the limits provided.

Port of the std::array<double, 16> overload of franka::limitRate. O_T_EE_c and the return value are column-major 4x4 homogeneous transformation matrices.

Errors

FrankaError::InvalidArgument if an element of O_T_EE_c is infinite or NaN, or if O_T_EE_c is not a homogeneous transformation matrix.

Note

FCI filters must be deactivated to work properly.