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Get the upper and lower joint position limits #10

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Get the upper and lower joint position limits #10

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25 changes: 19 additions & 6 deletions src/sdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,16 +41,16 @@ static KDL::Frame toKdl(Pose3d pose)
/**
* convert <joint> element to KDL::Joint
*/
static KDL::Joint toKdl(string name, string type, KDL::Frame pose, KDL::Vector axis)
static KDL::Joint toKdl(string name, string type, KDL::Frame pose, KDL::Vector axis, double joint_upper, double joint_lower)
{
if (type == "revolute"){
return KDL::Joint(name, pose.p, pose.M * axis, KDL::Joint::RotAxis);
return KDL::Joint(name, pose.p, pose.M * axis, KDL::Joint::RotAxis, 1, 0, 0, 0, 0, joint_upper, joint_lower);
}
else if (type == "prismatic"){
return KDL::Joint(name, pose.p, pose.M * axis, KDL::Joint::TransAxis);
return KDL::Joint(name, pose.p, pose.M * axis, KDL::Joint::TransAxis, 1, 0, 0, 0, 0, joint_upper, joint_lower);
}
else if (type == "fixed"){
return KDL::Joint(name, KDL::Joint::None);
return KDL::Joint(name, KDL::Joint::None, 1, 0, 0, 0, 0, joint_upper, joint_lower);
}
else
throw runtime_error("cannot handle joint type " + type);
Expand Down Expand Up @@ -105,6 +105,8 @@ static void sdfExtractJointData(sdf::ElementPtr sdf_joint,
string& joint_type,
KDL::Frame& joint_pose,
KDL::Vector& joint_axis,
double& joint_upper,
double& joint_lower,
bool& use_parent_model_frame)
{
if (sdf_joint->HasAttribute("name")){
Expand All @@ -128,6 +130,15 @@ static void sdfExtractJointData(sdf::ElementPtr sdf_joint,
use_parent_model_frame = sdf_axis->GetElement("use_parent_model_frame")->Get<bool>();
}

if (sdf_axis->HasElement("limit")){
sdf::ElementPtr limit_elem = sdf_axis->GetElement("limit");

if (limit_elem->HasElement("upper"))
joint_upper = limit_elem->Get<double>("upper");
if (limit_elem->HasElement("lower"))
joint_lower = limit_elem->Get<double>("lower");
}

}
}

Expand Down Expand Up @@ -195,10 +206,12 @@ static void convertSdfTree(
string joint_type;
string joint_name;
KDL::Vector joint_axis;
double joint_upper;
double joint_lower;
KDL::Frame joint2child;
bool use_parent_model_frame = false;

sdfExtractJointData(sdf_joint, joint_name, joint_type, joint2child, joint_axis, use_parent_model_frame);
sdfExtractJointData(sdf_joint, joint_name, joint_type, joint2child, joint_axis, joint_upper, joint_lower, use_parent_model_frame);

KDL::Frame child2parent = root2model.Inverse() * child2model;
KDL::Frame joint2parent = child2parent * joint2child;
Expand All @@ -208,7 +221,7 @@ static void convertSdfTree(
joint_axis = joint2model.M.Inverse() * joint_axis;
}

KDL::Joint joint = toKdl(model_name + "::" + joint_name, joint_type, joint2parent, joint_axis);
KDL::Joint joint = toKdl(model_name + "::" + joint_name, joint_type, joint2parent, joint_axis, joint_upper, joint_lower);
KDL::Segment segment(child_link_name, joint, child2parent, I);
if (! tree.addSegment(segment, root_link_name))
throw std::logic_error("failed to add segment " + child_link_name + " as child of " + root_link_name);
Expand Down