joint_limits_interface Namespace Reference

Namespaces
namespace	internal
Classes
class	EffortJointSaturationHandle
	A handle used to enforce position, velocity, and effort limits of an effort-controlled joint that does not have soft limits. More...
class	EffortJointSaturationInterface
class	EffortJointSoftLimitsHandle
	A handle used to enforce position, velocity and effort limits of an effort-controlled joint. More...
class	EffortJointSoftLimitsInterface
struct	JointLimits
class	JointLimitsInterface
	Interface for enforcing joint limits. More...
class	JointLimitsInterfaceException
	An exception related to a JointLimitsInterface. More...
class	PositionJointSaturationHandle
	A handle used to enforce position and velocity limits of a position-controlled joint that does not have soft limits. More...
class	PositionJointSaturationInterface
class	PositionJointSoftLimitsHandle
	A handle used to enforce position and velocity limits of a position-controlled joint. More...
class	PositionJointSoftLimitsInterface
struct	SoftJointLimits
class	VelocityJointSaturationHandle
	A handle used to enforce velocity and acceleration limits of a velocity-controlled joint. More...
class	VelocityJointSaturationInterface
class	VelocityJointSoftLimitsHandle
	A handle used to enforce position, velocity, and acceleration limits of a velocity-controlled joint. More...
class	VelocityJointSoftLimitsInterface
Functions
bool	getJointLimits (boost::shared_ptr< const urdf::Joint > urdf_joint, JointLimits &limits)
	Populate a JointLimits instance from URDF joint data.
bool	getJointLimits (const std::string &joint_name, const ros::NodeHandle &nh, JointLimits &limits)
	Populate a JointLimits instance from the ROS parameter server.
bool	getSoftJointLimits (boost::shared_ptr< const urdf::Joint > urdf_joint, SoftJointLimits &soft_limits)
	Populate a SoftJointLimits instance from URDF joint data.

---

Detailed Description

Author:

Adolfo Rodriguez Tsouroukdissian

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Function Documentation

bool joint_limits_interface::getJointLimits	(	boost::shared_ptr< const urdf::Joint >	urdf_joint,
		JointLimits &	limits
	)		[inline]

Populate a JointLimits instance from URDF joint data.

Parameters:

[in]	urdf_joint	URDF joint.
[out]	limits	Where URDF joint limit data gets written into. Limits in urdf_joint will overwrite existing values. Values in limits not present in urdf_joint remain unchanged.

Returns:

True if urdf_joint has a valid limits specification, false otherwise.

Definition at line 51 of file joint_limits_urdf.h.

bool joint_limits_interface::getJointLimits	(	const std::string &	joint_name,
		const ros::NodeHandle &	nh,
		JointLimits &	limits
	)		[inline]

Populate a JointLimits instance from the ROS parameter server.

It is assumed that the following parameter structure is followed on the provided NodeHandle. Unspecified parameters are simply not added to the joint limits specification.

 joint_limits:
   foo_joint:
     has_position_limits: true
     min_position: 0.0
     max_position: 1.0
     has_velocity_limits: true
     max_velocity: 2.0
     has_acceleration_limits: true
     max_acceleration: 5.0
     has_jerk_limits: true
     max_jerk: 100.0
     has_effort_limits: true
     max_effort: 20.0
   bar_joint:
     has_position_limits: false # Continuous joint
     has_velocity_limits: true
     max_velocity: 4.0

This specification is similar to the one used by MoveIt!, but additionally supports jerk and effort limits.

Parameters:

[in]	joint_name	Name of joint whose limits are to be fetched.
[in]	nh	NodeHandle where the joint limits are specified.
[out]	limits	Where joint limit data gets written into. Limits specified in the parameter server will overwrite existing values. Values in limits not specified in the parameter server remain unchanged.

Returns:

True if a limits specification is found (ie. the joint_limits/joint_name parameter exists in nh), false otherwise.

Definition at line 75 of file joint_limits_rosparam.h.

bool joint_limits_interface::getSoftJointLimits	(	boost::shared_ptr< const urdf::Joint >	urdf_joint,
		SoftJointLimits &	soft_limits
	)		[inline]

Populate a SoftJointLimits instance from URDF joint data.

Parameters:

[in]	urdf_joint	URDF joint.
[out]	soft_limits	Where URDF soft joint limit data gets written into.

Returns:

True if urdf_joint has a valid soft limits specification, false otherwise.

Definition at line 87 of file joint_limits_urdf.h.