pub fn limit_rate_cartesian_velocity(
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_dP_EE_c: &[f64; 6],
last_O_dP_EE_c: &[f64; 6],
last_O_ddP_EE_c: &[f64; 6],
) -> FrankaResult<[f64; 6]>Expand description
Limits the rate of a desired Cartesian velocity considering the limits provided.
Port of the std::array<double, 6> overload of franka::limitRate.
§Errors
FrankaError::InvalidArgument if an element of O_dP_EE_c is infinite or NaN.
§Note
FCI filters must be deactivated to work properly.