Inheritance diagram for joint_limits::JointSoftLimiter:

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Collaboration diagram for joint_limits::JointSoftLimiter:

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

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

bool	has_soft_position_limits (const joint_limits::SoftJointLimits &soft_joint_limits)

bool	has_soft_limits (const joint_limits::SoftJointLimits &soft_joint_limits)

Public Member Functions inherited from joint_limits::JointSaturationLimiter< JointControlInterfacesData >
	JointSaturationLimiter ()
	Constructor.

	~JointSaturationLimiter ()
	Destructor.

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

bool	on_enforce (const JointControlInterfacesData &current_joint_states, JointControlInterfacesData &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_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)

void	reset_internals () override
	Reset internal states of the limiter.

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.

Additional Inherited Members
Protected Member Functions inherited from joint_limits::JointLimiterInterface< JointLimitsStateDataType >
virtual bool	on_configure (const JointLimitsStateDataType &current_joint_states)=0
	Method is realized by an implementation.

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

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 inherited from joint_limits::JointSaturationLimiter< JointControlInterfacesData >
rclcpp::Clock::SharedPtr	clock_

JointControlInterfacesData	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_

Member Function Documentation

◆ on_enforce()

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

override

Note: : We use the previous command position to compute the velocity limits here because using the actual position would be too conservative, usually there is a couple of cycles of delay between the command sent to the robot and the robot actually showing that in the state. That effectively limits the velocity with which the joint can be moved which is much lower than the actual velocity limit.

◆ on_init()

bool joint_limits::JointSoftLimiter::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.

Reimplemented from joint_limits::JointSaturationLimiter< JointControlInterfacesData >.

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

ros2_control/joint_limits/include/joint_limits/joint_soft_limiter.hpp
ros2_control/joint_limits/src/joint_soft_limiter.cpp

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ on_enforce()

◆ on_init()