The qbrobotics Device Joint Limits Resources is a simple class aimed to group all the joint_limits_interface:: related structures in a unique place. More...

#include <qb_device_joint_limits_resources.h>

Public Member Functions
void	initialize (ros::NodeHandle &robot_hw_nh, qb_device_hardware_interface::qbDeviceHWResources &joints, const urdf::Model &urdf_model, hardware_interface::PositionJointInterface &joint_position)
	Retrieve the joint limits for each given joint. More...

	qbDeviceJointLimitsResources ()
	Do nothing. More...

virtual	~qbDeviceJointLimitsResources ()
	Do nothing. More...

Real-Time Safe Functions
void	enforceLimits (const ros::Duration &period)
	Enforce limits for all managed interfaces. More...

Private Attributes
bool	has_limits_

bool	has_soft_limits_

PositionJointSaturationInterface	joint_position_saturation_

Detailed Description

The qbrobotics Device Joint Limits Resources is a simple class aimed to group all the joint_limits_interface:: related structures in a unique place.

For the sake of uniformity, both qbhand and qbmove devices exploit the same joint position saturation interface with dynamical management of the joint limits, specifically designed for the qbmove shaft limits which vary in relation to the variable stiffness preset. The qbhand has fixed joint limits, though.

See also: PositionJointSaturationHandle

Todo:: Add soft limits support.

Definition at line 41 of file qb_device_joint_limits_resources.h.

Constructor & Destructor Documentation

qb_device_joint_limits_interface::qbDeviceJointLimitsResources::qbDeviceJointLimitsResources ( )

inline

Do nothing.

See also: initialize()

Definition at line 47 of file qb_device_joint_limits_resources.h.

virtual qb_device_joint_limits_interface::qbDeviceJointLimitsResources::~qbDeviceJointLimitsResources ( )

inlinevirtual

Do nothing.

Definition at line 52 of file qb_device_joint_limits_resources.h.

Member Function Documentation

void qb_device_joint_limits_interface::qbDeviceJointLimitsResources::enforceLimits ( const ros::Duration & period )

inline

Enforce limits for all managed interfaces.

Parameters

period The control period.

Definition at line 59 of file qb_device_joint_limits_resources.h.

void qb_device_joint_limits_interface::qbDeviceJointLimitsResources::initialize	(	ros::NodeHandle &	robot_hw_nh,
		qb_device_hardware_interface::qbDeviceHWResources &	joints,
		const urdf::Model &	urdf_model,
		hardware_interface::PositionJointInterface &	joint_position
	)

inline

Retrieve the joint limits for each given joint.

At first they are taken from the robot_description (URDF model), but these values are overridden by the one specified in the Parameter Server, if found.

Parameters

joints	The device HW joints Resource.
urdf_model	The URDF model structure initialized with the `robot_description`.
joint_position	The joint position HW interface, needed to retrieve joint handles.