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)

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_

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_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_init()