Add todo comment toward back emf

rdiankov · Dec 25, 2024 · 7756643 · 7756643
1 parent 0d2da29
commit 7756643
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/libopenrave/kinbodyjoint.cpp b/src/libopenrave/kinbodyjoint.cpp
@@ -1975,6 +1975,7 @@ std::pair<dReal, dReal> KinBody::Joint::GetInstantaneousTorqueLimits(int iaxis)
     else {
         const ElectricMotorActuatorInfo& electricMotorActuatorInfo = *_info._infoElectricMotor;
         const dReal fLimit = _GetTorqueLimitFromSpeedTorquePoints(iaxis, electricMotorActuatorInfo, electricMotorActuatorInfo.max_speed_torque_points, electricMotorActuatorInfo.max_instantaneous_torque);
+        // TODO : if we'll need to consider the back electromotive force (emf), re-think the formulation and then add the corrsponding parameters to ElectricMotorActuatorInfo
         return std::make_pair(-fLimit, fLimit);
     }
 }
@@ -1987,6 +1988,7 @@ std::pair<dReal, dReal> KinBody::Joint::GetNominalTorqueLimits(int iaxis) const
     else {
         const ElectricMotorActuatorInfo& electricMotorActuatorInfo = *_info._infoElectricMotor;
         const dReal fLimit = _GetTorqueLimitFromSpeedTorquePoints(iaxis, electricMotorActuatorInfo, electricMotorActuatorInfo.nominal_speed_torque_points, electricMotorActuatorInfo.nominal_torque);
+        // TODO : if we'll need to consider the back electromotive force (emf), re-think the formulation and then add the corrsponding parameters to ElectricMotorActuatorInfo
         return std::make_pair(-fLimit, fLimit);
     }
 }