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Extend JointLimits class to include acceleration, deceleration and jerk limits #83

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Extend JointLimits class to include acceleration, deceleration and jerk limits #83

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Extend JointLimits class to include acceleration, deceleration and je…
saikishor Feb 16, 2025
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remove package.xml
saikishor Feb 25, 2025
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7 changes: 7 additions & 0 deletions include/urdf_model/joint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@
#ifndef URDF_INTERFACE_JOINT_H
#define URDF_INTERFACE_JOINT_H

#include <limits>
#include <string>
#include <vector>

Expand Down Expand Up @@ -70,13 +71,19 @@ class JointLimits
double upper;
double effort;
double velocity;
double acceleration;
double deceleration;
double jerk;
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@scpeters scpeters Dec 17, 2025

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keep in mind that the addition of these data members will change the size of this object and hence break ABI. This change may be merged to rolling if appropriate care is taken, but it should not be backported to any released ROS distros


void clear()
{
lower = 0;
upper = 0;
effort = 0;
velocity = 0;
acceleration = std::numeric_limits<double>::infinity();
deceleration = std::numeric_limits<double>::infinity();
jerk = std::numeric_limits<double>::infinity();
};
};

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