.. _program_listing_file_include_pilz_industrial_motion_planner_joint_limits_interface_extension.h:

Program Listing for File joint_limits_interface_extension.h
===========================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_pilz_industrial_motion_planner_joint_limits_interface_extension.h>` (``include/pilz_industrial_motion_planner/joint_limits_interface_extension.h``)

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

.. code-block:: cpp

   /*********************************************************************
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   #pragma once
   
   #include <pilz_industrial_motion_planner/joint_limits_extension.h>
   #include <limits>
   
   #include <joint_limits_copy/joint_limits_rosparam.hpp>
   
   namespace pilz_industrial_motion_planner
   {
   namespace joint_limits_interface
   {
   inline bool declareParameters(const std::string& joint_name, const std::string& param_ns,
                                 const rclcpp::Node::SharedPtr& node)
   {
     return joint_limits::declareParameters(joint_name, node, param_ns);
   }
   inline bool getJointLimits(const std::string& joint_name, const std::string& param_ns,
                              const rclcpp::Node::SharedPtr& node, joint_limits_interface::JointLimits& limits)
   {
     // Load the existing limits
     if (!joint_limits::getJointLimits(joint_name, node, param_ns, limits))
     {
       return false;  // LCOV_EXCL_LINE // The case where getJointLimits returns
                      // false is covered above.
     }
     try
     {
       // Deceleration limits
       const std::string param_base_name = (param_ns.empty() ? "" : param_ns + ".") + "joint_limits." + joint_name;
       if (node->has_parameter(param_base_name + ".has_deceleration_limits"))
       {
         limits.has_deceleration_limits = node->get_parameter(param_base_name + ".has_deceleration_limits").as_bool();
       }
       else
       {
         limits.has_deceleration_limits = node->declare_parameter(param_base_name + ".has_deceleration_limits", false);
       }
       if (limits.has_deceleration_limits)
       {
         if (node->has_parameter(param_base_name + ".max_deceleration"))
         {
           limits.max_deceleration = node->get_parameter(param_base_name + ".max_deceleration").as_double();
         }
         else
         {
           limits.max_deceleration =
               node->declare_parameter(param_base_name + ".max_deceleration", std::numeric_limits<double>::quiet_NaN());
         }
       }
     }
     catch (const std::exception& ex)
     {
       RCLCPP_WARN_STREAM(node->get_logger(), "Failed loading deceleration limits");
       limits.has_deceleration_limits = false;
     }
   
     return true;
   }
   }  // namespace joint_limits_interface
   }  // namespace pilz_industrial_motion_planner