Inheritance diagram for joint_limits::JointLimiterInterface< LimitsType >:

Public Member Functions
virtual JOINT_LIMITS_PUBLIC 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")
	Initialization of every JointLimiter. More...

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

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

virtual JOINT_LIMITS_PUBLIC bool	configure (const JointLimitsStateDataType &current_joint_states)

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

virtual JOINT_LIMITS_PUBLIC bool	enforce (std::vector< double > &desired_joint_states)
	Enforce joint limits to desired joint state for single physical quantity. More...

Protected Member Functions
virtual JOINT_LIMITS_PUBLIC bool	on_init ()=0
	Method is realized by an implementation. More...

virtual JOINT_LIMITS_PUBLIC bool	on_configure (const JointLimitsStateDataType &current_joint_states)=0
	Method is realized by an implementation. More...

virtual JOINT_LIMITS_PUBLIC bool	on_enforce (JointLimitsStateDataType &current_joint_states, JointLimitsStateDataType &desired_joint_states, const rclcpp::Duration &dt)=0
	Method is realized by an implementation. More...

virtual JOINT_LIMITS_PUBLIC bool	on_enforce (std::vector< double > &desired_joint_states)=0
	Method is realized by an implementation. More...

Protected Attributes
size_t	number_of_joints_

std::vector< std::string >	joint_names_

std::vector< LimitsType >	joint_limits_

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	node_param_itf_

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	node_logging_itf_

Member Function Documentation

◆ enforce() [1/2]

template<typename LimitsType >

virtual JOINT_LIMITS_PUBLIC bool joint_limits::JointLimiterInterface< LimitsType >::enforce	(	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.

◆ enforce() [2/2]

template<typename LimitsType >

virtual JOINT_LIMITS_PUBLIC bool joint_limits::JointLimiterInterface< LimitsType >::enforce ( std::vector< double > & desired_joint_states )

inlinevirtual

Enforce joint limits to desired joint state for single physical quantity.

Generic enforce method that calls implementation-specific on_enforce method.

Parameters

[in,out] desired_joint_states joint state that should be adjusted to obey the limits.

Returns: true if limits are enforced, otherwise false.

◆ init() [1/3]

template<typename LimitsType >

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

inlinevirtual

Wrapper init method that accepts pointer to the Node. For details see other init method.

◆ init() [2/3]

template<typename LimitsType >

virtual JOINT_LIMITS_PUBLIC bool joint_limits::JointLimiterInterface< LimitsType >::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

Initialization of 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_limit 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 LimitsType >

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

inlinevirtual

Wrapper init method that accepts pointer to the LifecycleNode. For details see other init method.

◆ on_configure()

template<typename LimitsType >

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

protectedpure virtual

Method is realized by an implementation.

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

Returns: true if initialization was successful, otherwise false.

Implemented in joint_limits::JointSaturationLimiter< LimitsType >.

◆ on_enforce() [1/2]

template<typename LimitsType >

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

protectedpure virtual

Method is realized by an implementation.

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< LimitsType >, and joint_limits::JointSaturationLimiter< LimitsType >.

◆ on_enforce() [2/2]

template<typename LimitsType >

virtual JOINT_LIMITS_PUBLIC bool joint_limits::JointLimiterInterface< LimitsType >::on_enforce ( std::vector< double > & desired_joint_states )

protectedpure virtual

Method is realized by an implementation.

Filter-specific implementation of the joint limits enforce algorithm for single physical quantity. This method might use "effort" limits since they are often used as wild-card. Check the documentation of the exact implementation for more details.

Parameters

[in,out] desired_joint_states joint state that should be adjusted to obey the limits.

Returns: true if limits are enforced, otherwise false.

Implemented in joint_limits::JointSaturationLimiter< LimitsType >, and joint_limits::JointSaturationLimiter< LimitsType >.

◆ on_init()

template<typename LimitsType >

virtual JOINT_LIMITS_PUBLIC bool joint_limits::JointLimiterInterface< LimitsType >::on_init ( )

protectedpure virtual

Method is realized by an implementation.

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

Returns: true if initialization was successful, otherwise false.

Implemented in joint_limits::JointSaturationLimiter< LimitsType >.

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() [1/2]

◆ enforce() [2/2]

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]

◆ on_configure()

◆ on_enforce() [1/2]

◆ on_enforce() [2/2]

◆ on_init()