Add simple joint limiter#11

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saikishor wants to merge 49 commits intomasterfrom

add-simple-joint-limiter

Commits on May 6, 2024

Added controller parameters structures and movement interfaces.

destogl
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saikishor
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Added joint limiter plugins.

destogl
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saikishor
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Debug Ruckig JointLimiter.

destogl
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saikishor
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Modify simple joint limiting plugin (same as changes to moveit2 filter) (#6)

authored and
saikishor
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Remove all Ruckig-limiter files.

destogl
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saikishor
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Apply suggestions from code review

destogl
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saikishor
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Remove definition of movement interface because the concept is not used yet.

destogl
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saikishor
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Polish out some stuff using "GH Programming"

authored and
saikishor
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Polish out some stuff using "GH Programming"

destogl
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saikishor
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Add SimpleJointLimiter as plugin into controllers.

destogl
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saikishor
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Version with deceleration for simple joint limiter.

destogl
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saikishor
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Formatting and comment to check.

destogl
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saikishor
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Added test of joint_limiter

gwalck
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saikishor
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Fixed deceleration limit application

gwalck
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saikishor
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Updated authorship

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saikishor
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Split test, apply review changes, add future tests

gwalck
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saikishor
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Applied review comment, added 2 tests & fixed typo

gwalck
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saikishor
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Improved close to limit trigger

gwalck
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saikishor
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Update joint_limits/src/simple_joint_limiter.cpp

destogl
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saikishor
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Fix formatting.

destogl
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saikishor
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Added temporary pseudo-code

gwalck
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saikishor
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Updated pseudo-code

gwalck
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saikishor
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Refactored to match pseudo-code

gwalck
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saikishor
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Adapted tests

gwalck
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saikishor
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lint

gwalck
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saikishor
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Cleanup debug helpers

gwalck
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saikishor
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Removed pseudo-code

gwalck
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saikishor
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Apply suggestions from code review

committed
Apply suggestions from code review

destogl
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saikishor
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Unify how joints were limits are reached are stored.

destogl
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saikishor
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Fix formatting.

destogl
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saikishor
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Fix unstable limiter because velocity is caculated from position when position limit it not used.

destogl
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saikishor
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fix formatting.

destogl
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saikishor
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Fix unstable limiter because velocity is caculated from position when position limit it not used.

destogl
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saikishor
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Make acceleration more stable in limiter.

destogl
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saikishor
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Enable dynamic update of limits from parameters.

destogl
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saikishor
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Fix formatting.

destogl
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saikishor
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Debug position limiting in the simiple joint limiter.

destogl
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saikishor
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Update tests after changes.

destogl
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saikishor
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Fixup shadowing variable.

destogl
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saikishor
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rename to JointSaturationLimiter

mamueluth
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saikishor
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rename files as well

mamueluth
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saikishor
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add effort limits

mamueluth
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saikishor
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if move limit efforts to seperate function

mamueluth
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saikishor
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add generic enforce method

mamueluth
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saikishor
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Interface cleanup and small optimizations from reviewers' comments.

destogl
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saikishor
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Small fixes of calculation when differnet set of inputs are provided.

destogl
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saikishor
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removed the joint_limits_interface after rebasing
saikishor
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remove the new line
saikishor
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