.. _program_listing_file_include_joint_limits_joint_limits_urdf.hpp:

Program Listing for File joint_limits_urdf.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_joint_limits_joint_limits_urdf.hpp>` (``include/joint_limits/joint_limits_urdf.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2024 PAL Robotics S.L.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   
   #ifndef JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
   #define JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_
   
   #include "joint_limits/joint_limits.hpp"
   #include "urdf_model/joint.h"
   
   namespace joint_limits
   {
   
   inline bool getJointLimits(urdf::JointConstSharedPtr 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 = std::abs(urdf_joint->limits->velocity);
   
     limits.has_acceleration_limits = false;
   
     limits.has_effort_limits = true;
     limits.max_effort = std::abs(urdf_joint->limits->effort);
   
     return true;
   }
   
   inline bool getSoftJointLimits(urdf::JointConstSharedPtr 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;
   }
   }  // namespace joint_limits
   #endif  // JOINT_LIMITS__JOINT_LIMITS_URDF_HPP_