#include <joint_saturation_limiter.hpp>

Inheritance diagram for joint_limits::JointSaturationLimiter< LimitsType >:

Collaboration diagram for joint_limits::JointSaturationLimiter< LimitsType >:

Public Member Functions
JOINT_LIMITS_PUBLIC	JointSaturationLimiter ()
	Constructor.

JOINT_LIMITS_PUBLIC	~JointSaturationLimiter ()
	Destructor.

JOINT_LIMITS_PUBLIC bool	on_init () override
	Method is realized by an implementation. More...

JOINT_LIMITS_PUBLIC bool	on_configure (const trajectory_msgs::msg::JointTrajectoryPoint &) override
	Method is realized by an implementation. More...

JOINT_LIMITS_PUBLIC bool	on_enforce (trajectory_msgs::msg::JointTrajectoryPoint &current_joint_states, trajectory_msgs::msg::JointTrajectoryPoint &desired_joint_states, const rclcpp::Duration &dt) override
	Enforce joint limits to desired position, velocity and acceleration using clamping. Class implements this method accepting following data types: More...

JOINT_LIMITS_PUBLIC bool	on_enforce (std::vector< double > &desired_joint_states) override
	Enforce joint limits to desired arbitrary physical quantity. Additional, commonly used method for enforcing limits by clamping desired input value. The limit is defined in effort limits of the `joint::limits/JointLimit` structure. More...

bool	on_enforce (trajectory_msgs::msg::JointTrajectoryPoint &current_joint_states, trajectory_msgs::msg::JointTrajectoryPoint &desired_joint_states, const rclcpp::Duration &dt)
	Method is realized by an implementation. More...

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

Public Member Functions inherited from joint_limits::JointLimiterInterface< LimitsType >
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...

Additional Inherited Members
Protected Attributes inherited from joint_limits::JointLimiterInterface< LimitsType >
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_

Detailed Description

template<typename LimitsType>
class joint_limits::JointSaturationLimiter< LimitsType >

Joint Saturation Limiter limits joints' position, velocity and acceleration by clamping values to its minimal and maximal allowed values. Since the position, velocity and accelerations are variables in physical relation, it might be that some values are limited lower then specified limit. For example, if a joint is close to its position limit, velocity and acceleration will be reduced accordingly.

Member Function Documentation

◆ on_configure()

template<typename LimitsType >

JOINT_LIMITS_PUBLIC bool joint_limits::JointSaturationLimiter< LimitsType >::on_configure ( const trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states )

inlineoverridevirtual

Method is realized by an implementation.

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

Returns: true if initialization was successful, otherwise false.

Implements joint_limits::JointLimiterInterface< LimitsType >.

◆ on_enforce() [1/4]

bool joint_limits::JointSaturationLimiter< JointLimits >::on_enforce ( std::vector< double > & desired_joint_states )

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.

Implements joint_limits::JointLimiterInterface< LimitsType >.

◆ on_enforce() [2/4]

template<typename LimitsType >

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

overridevirtual

Enforce joint limits to desired arbitrary physical quantity. Additional, commonly used method for enforcing limits by clamping desired input value. The limit is defined in effort limits of the joint::limits/JointLimit structure.

If has_effort_limits is set to false, the limits will be not enforced to a joint.

Parameters

[in,out] desired_joint_states physical quantity that should be adjusted to obey the limits.

Returns: true if limits are enforced, otherwise false.

Implements joint_limits::JointLimiterInterface< LimitsType >.

◆ on_enforce() [3/4]

bool joint_limits::JointSaturationLimiter< JointLimits >::on_enforce	(	trajectory_msgs::msg::JointTrajectoryPoint &	current_joint_states,
		trajectory_msgs::msg::JointTrajectoryPoint &	desired_joint_states,
		const rclcpp::Duration &	dt
	)

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.

Implements joint_limits::JointLimiterInterface< LimitsType >.

◆ on_enforce() [4/4]

template<typename LimitsType >

JOINT_LIMITS_PUBLIC bool joint_limits::JointSaturationLimiter< LimitsType >::on_enforce	(	trajectory_msgs::msg::JointTrajectoryPoint &	current_joint_states,
		trajectory_msgs::msg::JointTrajectoryPoint &	desired_joint_states,
		const rclcpp::Duration &	dt
	)

overridevirtual

Enforce joint limits to desired position, velocity and acceleration using clamping. Class implements this method accepting following data types:

trajectory_msgs::msg::JointTrajectoryPoint: limiting position, velocity and acceleration;

Implementation of saturation approach for joints with position, velocity or acceleration limits and values. First, position limits are checked to adjust desired velocity accordingly, then velocity and finally acceleration. The method support partial existence of limits, e.g., missing position limits for continuous joins.

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.

Implements joint_limits::JointLimiterInterface< LimitsType >.

◆ on_init()

template<typename LimitsType >

JOINT_LIMITS_PUBLIC bool joint_limits::JointSaturationLimiter< LimitsType >::on_init ( )

inlineoverridevirtual

Method is realized by an implementation.

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

Returns: true if initialization was successful, otherwise false.

Implements joint_limits::JointLimiterInterface< LimitsType >.

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

ros2_control/joint_limits/include/joint_limits/joint_saturation_limiter.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename LimitsType> class joint_limits::JointSaturationLimiter< LimitsType >

Member Function Documentation

◆ on_configure()

◆ on_enforce() [1/4]

◆ on_enforce() [2/4]

◆ on_enforce() [3/4]

◆ on_enforce() [4/4]

◆ on_init()

template<typename LimitsType>
class joint_limits::JointSaturationLimiter< LimitsType >