Program Listing for File joint_limits.hpp
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)
// Copyright 2020 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.
#pragma once
// TODO(henning): This file is copied from the DRAFT PR https://github.com/ros-controls/ros2_control/pull/462 since the
// current ros2_control implementation does not offer the desired joint limits API, yet. Remove when ros2_control has an
// upstream version of this.
#include <limits>
#include <sstream>
#include <string>
namespace joint_limits
{
struct JointLimits
{
JointLimits()
: min_position(std::numeric_limits<double>::quiet_NaN())
, max_position(std::numeric_limits<double>::quiet_NaN())
, max_velocity(std::numeric_limits<double>::quiet_NaN())
, max_acceleration(std::numeric_limits<double>::quiet_NaN())
, max_jerk(std::numeric_limits<double>::quiet_NaN())
, max_effort(std::numeric_limits<double>::quiet_NaN())
, has_position_limits(false)
, has_velocity_limits(false)
, has_acceleration_limits(false)
, has_jerk_limits(false)
, has_effort_limits(false)
, angle_wraparound(false)
{
}
double min_position;
double max_position;
double max_velocity;
double max_acceleration;
double max_jerk;
double max_effort;
bool has_position_limits;
bool has_velocity_limits;
bool has_acceleration_limits;
bool has_jerk_limits;
bool has_effort_limits;
bool angle_wraparound;
std::string to_string() // NOLINT: Ignore case style
{
std::stringstream ss_output;
if (has_position_limits)
{
ss_output << " position limits: "
<< "[" << min_position << ", " << max_position << "]\n";
}
if (has_velocity_limits)
{
ss_output << " velocity limit: "
<< "[" << max_velocity << "]\n";
}
if (has_acceleration_limits)
{
ss_output << " acceleration limit: "
<< "[" << max_acceleration << "]\n";
}
if (has_jerk_limits)
{
ss_output << " jerk limit: "
<< "[" << max_acceleration << "]\n";
}
if (has_effort_limits)
{
ss_output << " effort limit: "
<< "[" << max_acceleration << "]\n";
}
if (angle_wraparound)
{
ss_output << " angle wraparound is active.";
}
return ss_output.str();
}
std::string debug_to_string() // NOLINT: Ignore case style
{
std::stringstream ss_output;
ss_output << " has position limits: " << (has_position_limits ? "true" : "false") << "[" << min_position << ", "
<< max_position << "]\n";
ss_output << " has velocity limits: " << (has_velocity_limits ? "true" : "false") << "[" << max_velocity << "]\n";
ss_output << " has acceleration limits: " << (has_acceleration_limits ? "true" : "false") << " ["
<< max_acceleration << "]\n";
ss_output << " has jerk limits: " << (has_jerk_limits ? "true" : "false") << "[" << max_jerk << "]\n";
ss_output << " has effort limits: " << (has_effort_limits ? "true" : "false") << "[" << max_effort << "]\n";
ss_output << " angle wraparound: " << (angle_wraparound ? "true" : "false");
return ss_output.str();
}
};
struct SoftJointLimits
{
SoftJointLimits()
: min_position(std::numeric_limits<double>::quiet_NaN())
, max_position(std::numeric_limits<double>::quiet_NaN())
, k_position(std::numeric_limits<double>::quiet_NaN())
, k_velocity(std::numeric_limits<double>::quiet_NaN())
{
}
double min_position;
double max_position;
double k_position;
double k_velocity;
};
} // namespace joint_limits