joint_limits::JointSoftLimiter Class Reference

Inheritance diagram for joint_limits::JointSoftLimiter:

Collaboration diagram for joint_limits::JointSoftLimiter:

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

Additional Inherited Members
Protected Member Functions inherited from joint_limits::JointLimiterInterface< JointLimitsStateDataType >
virtual bool	on_configure (const JointLimitsStateDataType &current_joint_states)=0
	Configure the limiter's internal states and libraries.
virtual bool	on_enforce (const JointLimitsStateDataType &current_joint_states, JointLimitsStateDataType &desired_joint_states, const rclcpp::Duration &dt)=0
	Enforce joint limits for multiple dependent physical quantities.
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

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.

Reimplemented from joint_limits::JointSaturationLimiter< JointControlInterfacesData >.

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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