joint_limits_urdf.h

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// Copyright (C) 2013, PAL Robotics S.L.
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#ifndef JOINT_LIMITS_INTERFACE_JOINT_LIMITS_URDF_H
#define JOINT_LIMITS_INTERFACE_JOINT_LIMITS_URDF_H

#include <ros/common.h>
#if ROS_VERSION_MINIMUM(1, 9, 0) // TODO: Deprecate this conditional when Fuerte support is EOL'd
  #include <urdf_model/joint.h> // Fuerte.
#else
  #include <urdf_interface/joint.h> // Groovy and later
#endif
#include <joint_limits_interface/joint_limits.h>

namespace joint_limits_interface
{

inline bool getJointLimits(boost::shared_ptr<const urdf::Joint> urdf_joint, JointLimits& limits)
{
  if (!urdf_joint || !urdf_joint->limits)
  {
    return false;
  }

  limits.has_position_limits = urdf_joint->type == urdf::Joint::REVOLUTE || urdf_joint->type == urdf::Joint::PRISMATIC;
  if (limits.has_position_limits)
  {
    limits.min_position = urdf_joint->limits->lower;
    limits.max_position = urdf_joint->limits->upper;
  }

  if (!limits.has_position_limits && urdf_joint->type == urdf::Joint::CONTINUOUS)
  {
    limits.angle_wraparound = true;
  }

  limits.has_velocity_limits = true;
  limits.max_velocity = urdf_joint->limits->velocity;

  limits.has_acceleration_limits = false;

  limits.has_effort_limits = true;
  limits.max_effort = urdf_joint->limits->effort;

  return true;
}

inline bool getSoftJointLimits(boost::shared_ptr<const urdf::Joint> urdf_joint, SoftJointLimits& soft_limits)
{
  if (!urdf_joint || !urdf_joint->safety)
  {
    return false;
  }

  soft_limits.min_position = urdf_joint->safety->soft_lower_limit;
  soft_limits.max_position = urdf_joint->safety->soft_upper_limit;
  soft_limits.k_position = urdf_joint->safety->k_position;
  soft_limits.k_velocity = urdf_joint->safety->k_velocity;

  return true;
}

}

#endif