remove the joint range limiter header and reuse it from the joint sat…

…uration limiter + merge them into a single library

joint_limits/CMakeLists.txt

@@ -45,6 +45,7 @@ target_compile_definitions(joint_limiter_interface PRIVATE "JOINT_LIMITS_BUILDIN
 
 add_library(joint_saturation_limiter SHARED
   src/joint_saturation_limiter.cpp
+  src/joint_range_limiter.cpp
 )
 target_compile_features(joint_saturation_limiter PUBLIC cxx_std_17)
 target_include_directories(joint_saturation_limiter PUBLIC
@@ -56,19 +57,6 @@ ament_target_dependencies(joint_saturation_limiter PUBLIC ${THIS_PACKAGE_INCLUDE
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(joint_saturation_limiter PRIVATE "JOINT_LIMITS_BUILDING_DLL")
 
-add_library(joint_range_limiter SHARED
-  src/joint_range_limiter.cpp
-)
-target_compile_features(joint_range_limiter PUBLIC cxx_std_17)
-target_include_directories(joint_range_limiter PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/joint_limits>
-)
-ament_target_dependencies(joint_range_limiter PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(joint_range_limiter PRIVATE "JOINT_LIMITS_BUILDING_DLL")
-
 pluginlib_export_plugin_description_file(joint_limits joint_limiters.xml)
 
 if(BUILD_TESTING)
@@ -116,7 +104,6 @@ install(TARGETS
     joint_limits
     joint_limiter_interface
     joint_saturation_limiter
-    joint_range_limiter
   EXPORT export_joint_limits
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib

joint_limits/include/joint_limits/joint_saturation_limiter.hpp

@@ -49,8 +49,9 @@ class JointSaturationLimiter : public JointLimiterInterface<LimitsType, JointLim
   JOINT_LIMITS_PUBLIC bool on_init() override { return true; }
 
   JOINT_LIMITS_PUBLIC bool on_configure(
-    const JointLimitsStateDataType & /*current_joint_states*/) override
+    const JointLimitsStateDataType & current_joint_states) override
   {
+    prev_command_ = current_joint_states;
     return true;
   }
 
@@ -75,6 +76,7 @@ class JointSaturationLimiter : public JointLimiterInterface<LimitsType, JointLim
 
 private:
   rclcpp::Clock::SharedPtr clock_;
+  JointLimitsStateDataType prev_command_;
 };
 
 template <typename LimitsType, typename JointLimitsStateDataType>

joint_limits/joint_limiters.xml

@@ -7,10 +7,8 @@
         Simple joint limiter using clamping approach. Warning: clamping can cause discontinuities.
       </description>
     </class>
-  </library>
-  <library path="joint_range_limiter">
-    <class name="joint_limits/JointRangeLimiter"
-          type="JointInterfacesRangeLimiter"
+    <class name="joint_limits/JointInterfacesSaturationLimiter"
+          type="JointInterfacesSaturationLimiter"
           base_class_type="joint_limits::JointLimiterInterface&lt;joint_limits::JointLimits, joint_limits::JointControlInterfacesData&gt;">
       <description>
         Simple joint range limiter using clamping approach with the parsed limits.

joint_limits/src/joint_range_limiter.cpp

@@ -14,7 +14,7 @@
 
 /// \author Sai Kishor Kothakota
 
-#include "joint_limits/joint_range_limiter.hpp"
+#include "joint_limits/joint_saturation_limiter.hpp"
 
 #include <algorithm>
 #include "joint_limits/joint_limiter_struct.hpp"
@@ -119,21 +119,22 @@ namespace joint_limits
 {
 
 template <>
-bool JointRangeLimiter<JointLimits, JointControlInterfacesData>::on_init()
+bool JointSaturationLimiter<JointLimits, JointControlInterfacesData>::on_init()
 {
   const bool result = (number_of_joints_ != 1);
   if (!result && has_logging_interface())
   {
     RCLCPP_ERROR(
       node_logging_itf_->get_logger(),
-      "JointLimiter: The JointRangeLimiter expects the number of joints to be 1, but given : %zu",
+      "JointLimiter: The JointSaturationLimiter expects the number of joints to be 1, but given : "
+      "%zu",
       number_of_joints_);
   }
   return result;
 }
 
 template <>
-bool JointRangeLimiter<JointLimits, JointControlInterfacesData>::on_enforce(
+bool JointSaturationLimiter<JointLimits, JointControlInterfacesData>::on_enforce(
   JointControlInterfacesData & actual, JointControlInterfacesData & desired,
   const rclcpp::Duration & dt)
 {
@@ -225,10 +226,10 @@ bool JointRangeLimiter<JointLimits, JointControlInterfacesData>::on_enforce(
 
 // typedefs are needed here to avoid issues with macro expansion. ref:
 // https://stackoverflow.com/a/8942986
-typedef joint_limits::JointRangeLimiter<
+typedef joint_limits::JointSaturationLimiter<
   joint_limits::JointLimits, joint_limits::JointControlInterfacesData>
-  JointInterfacesRangeLimiter;
+  JointInterfacesSaturationLimiter;
 typedef joint_limits::JointLimiterInterface<
   joint_limits::JointLimits, joint_limits::JointControlInterfacesData>
-  JointInterfacesRangeLimiterBase;
-PLUGINLIB_EXPORT_CLASS(JointInterfacesRangeLimiter, JointInterfacesRangeLimiterBase)
+  JointInterfacesSaturationLLimiterBase;
+PLUGINLIB_EXPORT_CLASS(JointInterfacesSaturationLimiter, JointInterfacesSaturationLLimiterBase)