#include <joint_saturation_limiter.hpp>

Inheritance diagram for joint_limits::JointSaturationLimiter< JointLimitsStateDataType >:

Collaboration diagram for joint_limits::JointSaturationLimiter< JointLimitsStateDataType >:

Public Member Functions
	JointSaturationLimiter ()
	Constructor.

	~JointSaturationLimiter ()
	Destructor.

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

bool	on_configure (const JointLimitsStateDataType &current_joint_states) override
	Method is realized by an implementation.

bool	on_enforce (const JointLimitsStateDataType &current_joint_states, JointLimitsStateDataType &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:

bool	on_init ()
	Method is realized by an implementation.

bool	on_enforce (const JointControlInterfacesData &actual, JointControlInterfacesData &desired, const rclcpp::Duration &dt)

bool	on_enforce (const trajectory_msgs::msg::JointTrajectoryPoint &current_joint_states, trajectory_msgs::msg::JointTrajectoryPoint &desired_joint_states, const rclcpp::Duration &dt)

Public Member Functions inherited from joint_limits::JointLimiterInterface< JointLimitsStateDataType >
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")
	Initialization of 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)

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

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")

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.

Protected Attributes
rclcpp::Clock::SharedPtr	clock_

JointLimitsStateDataType	prev_command_

Protected Attributes inherited from joint_limits::JointLimiterInterface< JointLimitsStateDataType >
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_

Additional Inherited Members
Protected Member Functions inherited from joint_limits::JointLimiterInterface< JointLimitsStateDataType >
bool	has_logging_interface () const
	Checks if the logging interface is set.

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

Detailed Description

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

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 JointLimitsStateDataType >

bool joint_limits::JointSaturationLimiter< JointLimitsStateDataType >::on_configure ( const JointLimitsStateDataType & 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< JointLimitsStateDataType >.

◆ on_enforce()

template<typename JointLimitsStateDataType >

bool joint_limits::JointSaturationLimiter< JointLimitsStateDataType >::on_enforce	(	const JointLimitsStateDataType &	current_joint_states,
		JointLimitsStateDataType &	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.