33 #include <ros/common.h>
34 #include <urdf_model/joint.h>
35 #include <urdf/urdfdom_compatibility.h>
50 if (!urdf_joint || !urdf_joint->limits)
55 limits.
has_position_limits = urdf_joint->type == urdf::Joint::REVOLUTE || urdf_joint->type == urdf::Joint::PRISMATIC;
73 limits.
max_effort = urdf_joint->limits->effort;
86 if (!urdf_joint || !urdf_joint->safety)
91 soft_limits.
min_position = urdf_joint->safety->soft_lower_limit;
92 soft_limits.
max_position = urdf_joint->safety->soft_upper_limit;
93 soft_limits.
k_position = urdf_joint->safety->k_position;
94 soft_limits.
k_velocity = urdf_joint->safety->k_velocity;