robot_description_builder/joint/smartjointbuilder/smartparams/
limit.rs

1use crate::joint::{
2	joint_data,
3	jointbuilder::JointBuilder,
4	smartjointbuilder::{smart_joint_datatraits, SmartJointBuilder},
5};
6
7// TODO: Maybe add a continous lockout thing
8/// A trait to label a `SmartJointType` that is allowed to have a limit specified.
9pub trait LimitAllowed {}
10
11/// A type to significy that no [`Limit`](joint_data::LimitData) was specified.
12#[derive(Debug, Default, Clone)]
13pub struct NoLimit;
14impl smart_joint_datatraits::LimitDataType for NoLimit {}
15
16#[derive(Debug, Default, Clone)]
17pub struct WithLimit {
18	/// An attribute specifying the lower joint limit (in radians for revolute joints, in metres for prismatic joints). Omit if joint is continuous.
19	lower: Option<f32>,
20	/// An attribute specifying the upper joint limit (in radians for revolute joints, in metres for prismatic joints). Omit if joint is continuous.
21	upper: Option<f32>,
22	/// An attribute for enforcing the maximum joint effort (|applied effort| < |effort|).
23	effort: f32,
24	/// An attribute for enforcing the maximum joint velocity (in radians per second [rad/s] for revolute joints, in metres per second [m/s] for prismatic joints).
25	velocity: f32,
26}
27
28impl From<WithLimit> for joint_data::LimitData {
29	fn from(value: WithLimit) -> Self {
30		Self {
31			lower: value.lower,
32			upper: value.upper,
33			effort: value.effort,
34			velocity: value.velocity,
35		}
36	}
37}
38
39impl smart_joint_datatraits::LimitDataType for WithLimit {
40	fn simplify(&self, joint_builder: &mut JointBuilder, is_continous: bool) {
41		joint_builder.with_limit_data(joint_data::LimitData {
42			lower: match is_continous {
43				true => None,
44				false => self.lower,
45			},
46			upper: match is_continous {
47				true => None,
48				false => self.upper,
49			},
50			effort: self.effort,
51			velocity: self.velocity,
52		})
53	}
54}
55
56impl<Type, Axis, Calibration, Dynamics, Mimic, SafetyController>
57	SmartJointBuilder<Type, Axis, Calibration, Dynamics, NoLimit, Mimic, SafetyController>
58where
59	Type: LimitAllowed,
60	Axis: smart_joint_datatraits::AxisDataType,
61	Calibration: smart_joint_datatraits::CalibrationDataType,
62	Dynamics: smart_joint_datatraits::DynamicsDataType,
63	Mimic: smart_joint_datatraits::MimicDataType,
64	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
65{
66	pub fn with_limit(
67		self,
68		effort: f32,
69		velocity: f32,
70	) -> SmartJointBuilder<Type, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController> {
71		SmartJointBuilder {
72			name: self.name,
73			joint_type: self.joint_type,
74			transform: self.transform,
75			axis: self.axis,
76			calibration: self.calibration,
77			dynamics: self.dynamics,
78			limit: WithLimit {
79				lower: None,
80				upper: None,
81				effort,
82				velocity,
83			},
84			mimic: self.mimic,
85			safety_controller: self.safety_controller,
86		}
87	}
88}
89
90impl<Type, Axis, Calibration, Dynamics, Mimic, SafetyController>
91	SmartJointBuilder<Type, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>
92where
93	Type: LimitAllowed,
94	Axis: smart_joint_datatraits::AxisDataType,
95	Calibration: smart_joint_datatraits::CalibrationDataType,
96	Dynamics: smart_joint_datatraits::DynamicsDataType,
97	Mimic: smart_joint_datatraits::MimicDataType,
98	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
99{
100	pub fn set_effort(mut self, effort: f32) -> Self {
101		self.limit.effort = effort;
102		self
103	}
104
105	pub fn effort(&self) -> f32 {
106		self.limit.effort
107	}
108
109	/// Sets the velocity limit to the specified value in m/s or rad/s ([`velocity`](crate::joint::joint_data::LimitData::velocity)).
110	pub fn set_velocity(mut self, velocity: f32) -> Self {
111		self.limit.velocity = velocity;
112		self
113	}
114
115	/// Retrieves the set velocity limit in m/s or rad/s ([`velocity`](crate::joint::joint_data::LimitData::velocity)).
116	pub fn velocity(&self) -> f32 {
117		self.limit.velocity
118	}
119}
120
121/// The limits are only available on non continuous `JointType`s.
122impl<Type, Axis, Calibration, Dynamics, Mimic, SafetyController>
123	SmartJointBuilder<Type, Axis, Calibration, Dynamics, WithLimit, Mimic, SafetyController>
124where
125	Type: LimitAllowed + smart_joint_datatraits::SmartJointTypeTrait<false>,
126	Axis: smart_joint_datatraits::AxisDataType,
127	Calibration: smart_joint_datatraits::CalibrationDataType,
128	Dynamics: smart_joint_datatraits::DynamicsDataType,
129	Mimic: smart_joint_datatraits::MimicDataType,
130	SafetyController: smart_joint_datatraits::SafetyControllerDataType,
131{
132	/// Sets the upper limit ([`upper`](crate::joint::joint_data::LimitData::upper)) in meters or radians.
133	pub fn set_upper_limit(mut self, upper_limit: f32) -> Self {
134		self.limit.upper = Some(upper_limit);
135		self
136	}
137
138	/// Retrieves the upper limit ([`upper`](crate::joint::joint_data::LimitData::upper)) in meters or radians.
139	pub fn upper_limit(&self) -> Option<f32> {
140		self.limit.upper
141	}
142
143	/// Sets the lower limit ([`lower`](crate::joint::joint_data::LimitData::lower)) in meters or radians.
144	pub fn set_lower_limit(mut self, lower_limit: f32) -> Self {
145		self.limit.lower = Some(lower_limit);
146		self
147	}
148
149	/// Retrieves the lower limit ([`lower`](crate::joint::joint_data::LimitData::lower)) in meters or radians.
150	pub fn lower_limit(&self) -> Option<f32> {
151		self.limit.lower
152	}
153}
robot_description_builder/joint/smartjointbuilder/smartparams/limit.rs

robot_description_builder/joint/smartjointbuilder/smartparams/
limit.rs
