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Small fixes of calculation when differnet set of inputs are provided.
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destogl authored and saikishor committed May 6, 2024
1 parent 64d0bbc commit b5683c1
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Showing 2 changed files with 42 additions and 6 deletions.
19 changes: 13 additions & 6 deletions joint_limits/src/joint_saturation_limiter.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,12 @@ bool JointSaturationLimiter<JointLimits>::on_enforce(
// limit velocity
if (joint_limits_[index].has_velocity_limits)
{
// if desired velocity is not defined calculate it from positions
if (std::fabs(desired_vel[index]) <= VALUE_CONSIDERED_ZERO || std::isnan(desired_vel[index]))
{
desired_vel[index] =
(desired_pos[index] - current_joint_states.positions[index]) / dt_seconds;
}
// clamp input vel_cmd
if (std::fabs(desired_vel[index]) > joint_limits_[index].max_velocity)
{
Expand All @@ -135,7 +141,6 @@ bool JointSaturationLimiter<JointLimits>::on_enforce(
current_joint_states.positions[index] + desired_vel[index] * dt_seconds;
}

// compute desired_acc when velocity is limited
desired_acc[index] =
(desired_vel[index] - current_joint_states.velocities[index]) / dt_seconds;
}
Expand Down Expand Up @@ -166,11 +171,13 @@ bool JointSaturationLimiter<JointLimits>::on_enforce(
}
};

// limit acc for pos_cmd and/or vel_cmd

// compute desired_acc with desired_vel and vel_state
desired_acc[index] =
(desired_vel[index] - current_joint_states.velocities[index]) / dt_seconds;
// if desired acceleration if not provided compute it from desired_vel and vel_state
if (
std::fabs(desired_acc[index]) <= VALUE_CONSIDERED_ZERO || std::isnan(desired_acc[index]))
{
desired_acc[index] =
(desired_vel[index] - current_joint_states.velocities[index]) / dt_seconds;
}

// check if decelerating - if velocity is changing toward 0
bool deceleration_limit_applied = false;
Expand Down
29 changes: 29 additions & 0 deletions joint_limits/test/test_joint_saturation_limiter.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,35 @@ TEST_F(JointSaturationLimiterTest, when_within_limits_expect_no_limits_applied)
}
}

TEST_F(JointSaturationLimiterTest, when_within_limits_expect_no_limits_applied_with_acc)
{
SetupNode("joint_saturation_limiter");
Load();

if (joint_limiter_)
{
Init();
Configure();

rclcpp::Duration period(1.0, 0.0); // 1 second
// pos, vel, acc, dec = 1.0, 2.0, 5.0, 7.5

// within limits
desired_joint_states_.positions[0] = 1.0;
desired_joint_states_.velocities[0] = 1.5; // valid pos derivative as well
desired_joint_states_.accelerations[0] = 2.9; // valid pos derivative as well
ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));

// check if no limits applied
CHECK_STATE_SINGLE_JOINT(
desired_joint_states_, 0,
1.0, // pos unchanged
1.5, // vel unchanged
2.9 // acc = vel / 1.0
);
}
}

TEST_F(JointSaturationLimiterTest, when_posvel_leads_to_vel_exceeded_expect_limits_enforced)
{
SetupNode("joint_saturation_limiter");
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