Inheritance diagram for joint_limits::JointLimiterInterface< JointLimitsStateDataType >:

[legend]

Public Member Functions
virtual bool	init (const std::vector< std::string > &joint_names, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &param_itf, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_itf, const std::string &robot_description_topic="/robot_description")
	Initialize every JointLimiter.

virtual bool	init (const std::vector< std::string > &joint_names, const std::vector< joint_limits::JointLimits > &joint_limits, const std::vector< joint_limits::SoftJointLimits > &soft_joint_limits, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &param_itf, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_itf)
	Initialize joints from directly provided names and limits.

virtual bool	init (const std::vector< std::string > &joint_names, const rclcpp::Node::SharedPtr &node, const std::string &robot_description_topic="/robot_description")
	Initialize joints using a Node pointer.

virtual bool	init (const std::vector< std::string > &joint_names, const rclcpp_lifecycle::LifecycleNode::SharedPtr &lifecycle_node, const std::string &robot_description_topic="/robot_description")
	Initialize joints using a LifecycleNode pointer.

virtual bool	configure (const JointLimitsStateDataType &current_joint_states)

virtual bool	enforce (const JointLimitsStateDataType &current_joint_states, JointLimitsStateDataType &desired_joint_states, const rclcpp::Duration &dt)
	Enforce joint limits to desired joint state for multiple physical quantities.

virtual void	reset_internals ()=0

Protected Member Functions
virtual bool	on_init ()=0
	Initialize the limiter's internal states and libraries.

virtual bool	on_configure (const JointLimitsStateDataType &current_joint_states)=0
	Configure the limiter's internal states and libraries.

virtual bool	on_enforce (const JointLimitsStateDataType &current_joint_states, JointLimitsStateDataType &desired_joint_states, const rclcpp::Duration &dt)=0
	Enforce joint limits for multiple dependent physical quantities.

bool	has_logging_interface () const
	Checks if the logging interface is set.

bool	has_parameter_interface () const
	Checks if the parameter interface is set.

Protected Attributes
size_t	number_of_joints_

std::vector< std::string >	joint_names_

std::vector< joint_limits::JointLimits >	joint_limits_

std::vector< joint_limits::SoftJointLimits >	soft_joint_limits_

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	node_param_itf_

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging_itf_

Member Function Documentation

◆ enforce()

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::enforce	(	const JointLimitsStateDataType &	current_joint_states,
		JointLimitsStateDataType &	desired_joint_states,
		const rclcpp::Duration &	dt
	)

inlinevirtual

Enforce joint limits to desired joint state for multiple physical quantities.

Generic enforce method that calls implementation-specific on_enforce method.

Parameters

[in]	current_joint_states	current joint states a robot is in.
[in,out]	desired_joint_states	joint state that should be adjusted to obey the limits.
[in]	dt	time delta to calculate missing integrals and derivation in joint limits.

Returns: true if limits are enforced, otherwise false.

◆ has_logging_interface()

template<typename JointLimitsStateDataType >

bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::has_logging_interface ( ) const

inlineprotected

Checks if the logging interface is set.

Returns: true if the logging interface is available, otherwise false.

Note: this way of interfacing would be useful for instances where the logging interface is not available, for example in the ResourceManager or ResourceStorage classes.

◆ has_parameter_interface()

template<typename JointLimitsStateDataType >

bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::has_parameter_interface ( ) const

inlineprotected

Checks if the parameter interface is set.

Returns: true if the parameter interface is available, otherwise false.

Note: this way of interfacing would be useful for instances where the logging interface is not available, for example in the ResourceManager or ResourceStorage classes.

◆ init() [1/3]

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::init	(	const std::vector< std::string > &	joint_names,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description_topic = `"/robot_description"`
	)

inlinevirtual

Initialize joints using a Node pointer.

For details see other init method.

◆ init() [2/3]

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::init	(	const std::vector< std::string > &	joint_names,
		const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &	param_itf,
		const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &	logging_itf,
		const std::string &	robot_description_topic = `"/robot_description"`
	)

inlinevirtual

Initialize every JointLimiter.

Initialization of JointLimiter for defined joints with their names. Robot description topic provides a topic name where URDF of the robot can be found. This is needed to use joint limits from URDF (not implemented yet!). Override this method only if initialization and reading joint limits should be adapted. Otherwise, initialize your custom limiter in on_init method.

Parameters

[in]	joint_names	names of joints where limits should be applied.
[in]	param_itf	node parameters interface object to access parameters.
[in]	logging_itf	node logging interface to log if error happens.
[in]	robot_description_topic	string of a topic where robot description is accessible.

◆ init() [3/3]

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::init	(	const std::vector< std::string > &	joint_names,
		const rclcpp_lifecycle::LifecycleNode::SharedPtr &	lifecycle_node,
		const std::string &	robot_description_topic = `"/robot_description"`
	)

inlinevirtual

Initialize joints using a LifecycleNode pointer.

For details see other init method.

◆ on_configure()

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::on_configure ( const JointLimitsStateDataType & current_joint_states )

protectedpure virtual

Configure the limiter's internal states and libraries.

Implementation-specific configuration of limiter's internal states and libraries.

Returns: true if initialization was successful, otherwise false.

Implemented in joint_limits::JointSaturationLimiter< JointLimitsStateDataType >.

◆ on_enforce()

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::on_enforce	(	const JointLimitsStateDataType &	current_joint_states,
		JointLimitsStateDataType &	desired_joint_states,
		const rclcpp::Duration &	dt
	)

protectedpure virtual

Enforce joint limits for multiple dependent physical quantities.

Filter-specific implementation of the joint limits enforce algorithm for multiple dependent physical quantities.

Parameters

[in]	current_joint_states	current joint states a robot is in.
[in,out]	desired_joint_states	joint state that should be adjusted to obey the limits.
[in]	dt	time delta to calculate missing integrals and derivation in joint limits.

Returns: true if limits are enforced, otherwise false.

Implemented in joint_limits::JointSaturationLimiter< JointLimitsStateDataType >.

◆ on_init()

template<typename JointLimitsStateDataType >

virtual bool joint_limits::JointLimiterInterface< JointLimitsStateDataType >::on_init ( )

protectedpure virtual

Initialize the limiter's internal states and libraries.

Implementation-specific initialization of limiter's internal states and libraries.

Returns: true if initialization was successful, otherwise false.

Implemented in joint_limits::JointSaturationLimiter< JointLimitsStateDataType >, joint_limits::JointSaturationLimiter< JointControlInterfacesData >, joint_limits::JointSaturationLimiter< JointLimitsStateDataType >, joint_limits::JointSaturationLimiter< JointControlInterfacesData >, joint_limits::JointSaturationLimiter< JointLimitsStateDataType >, joint_limits::JointSaturationLimiter< JointControlInterfacesData >, and joint_limits::JointSoftLimiter.

◆ reset_internals()

template<typename JointLimitsStateDataType >

virtual void joint_limits::JointLimiterInterface< JointLimitsStateDataType >::reset_internals ( )

pure virtual

Implemented in joint_limits::JointSaturationLimiter< JointLimitsStateDataType >, and joint_limits::JointSaturationLimiter< JointControlInterfacesData >.

The documentation for this class was generated from the following file:

ros2_control/joint_limits/include/joint_limits/joint_limiter_interface.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ enforce()

◆ has_logging_interface()

◆ has_parameter_interface()

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ on_configure()

◆ on_enforce()

◆ on_init()

◆ reset_internals()