pub fn limit_rate_joint_positions(
upper_limits_velocity: &[f64; 7],
lower_limits_velocity: &[f64; 7],
max_acceleration: &[f64; 7],
max_jerk: &[f64; 7],
commanded_positions: &[f64; 7],
last_commanded_positions: &[f64; 7],
last_commanded_velocities: &[f64; 7],
last_commanded_accelerations: &[f64; 7],
) -> FrankaResult<[f64; 7]>Expand description
Limits the rate of desired joint positions considering the limits provided.
Port of the std::array<double, 7> position overload of franka::limitRate.
§Errors
FrankaError::InvalidArgument if commanded_positions are infinite or NaN.
§Note
FCI filters must be deactivated to work properly.