joint_limits::JointSaturationLimiter< JointLimitsStateDataType > Class Template Reference

Limit joints' position, velocity and acceleration by clamping to their allowed ranges. More...

#include <joint_saturation_limiter.hpp>

Inheritance diagram for joint_limits::JointSaturationLimiter< JointLimitsStateDataType >:

Collaboration diagram for joint_limits::JointSaturationLimiter< JointLimitsStateDataType >:

Public Member Functions
	JointSaturationLimiter ()
	Constructor.
virtual	~JointSaturationLimiter ()
	Destructor.
bool	on_init () override
	Initialize the limiter's internal states and libraries.
bool	on_configure (const JointLimitsStateDataType &current_joint_states) override
	Configure the limiter's internal states and libraries.
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.
void	reset_internals () override
	Reset internal states of the limiter.
bool	on_init ()
	Initialize the limiter's internal states and libraries.
bool	on_init ()
	Initialize the limiter's internal states and libraries.
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")
	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.

Protected Attributes
rclcpp::Clock::SharedPtr	clock_
JointLimitsStateDataType	prev_command_
std::mutex	mutex_
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 >

Limit joints' position, velocity and acceleration by clamping to their allowed ranges.

Since the position, velocity and accelerations are variables in physical relation, it might be that some values are limited lower than 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

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.

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 supports partial existence of limits, e.g., missing position limits for continuous joints.

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.

Exceptions

std::runtime_error

if the actual position is out of bounds if commanding position

Implements joint_limits::JointLimiterInterface< JointLimitsStateDataType >.

on_init() [1/3]

bool joint_limits::JointSaturationLimiter< JointControlInterfacesData >::on_init ( )

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.

Implements joint_limits::JointLimiterInterface< JointLimitsStateDataType >.

Reimplemented in joint_limits::JointSoftLimiter.

on_init() [2/3]

bool joint_limits::JointSaturationLimiter< JointControlInterfacesData >::on_init ( )

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.

Implements joint_limits::JointLimiterInterface< JointLimitsStateDataType >.

Reimplemented in joint_limits::JointSoftLimiter.

on_init() [3/3]

template<typename JointLimitsStateDataType >

bool joint_limits::JointSaturationLimiter< JointLimitsStateDataType >::on_init ( )

overridevirtual

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.

Implements joint_limits::JointLimiterInterface< JointLimitsStateDataType >.

Reimplemented in joint_limits::JointSoftLimiter.

reset_internals()

template<typename JointLimitsStateDataType >

void joint_limits::JointSaturationLimiter< JointLimitsStateDataType >::reset_internals ( )

inlineoverridevirtual

Reset internal states of the limiter.

This method is called when the controller is stopped or when the controller is reconfigured. It should reset all internal states of the limiter.

Implements joint_limits::JointLimiterInterface< JointLimitsStateDataType >.

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

• ros2_control/joint_limits/include/joint_limits/joint_saturation_limiter.hpp