Code

Implement limits for coupled joints#499

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traversaro merged 13 commits intorobotology:develrobotology/gazebo-yarp-plugins:develfrom xEnVrE:impl/coupled_joints_enhxEnVrE/gazebo-yarp-plugins:impl/coupled_joints_enhCopy head branch name to clipboardJul 21, 2020

+280-97

Commits

Commits on Jul 17, 2020

• [plugins][controlboard] Move struct Range from ControlBoardDriver.h to a dedicated header ControlBoardDriverRange.h

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• [plugins][controlboard] Change invalid joint name from 'invalid' to 'gyp_invalid' in BaseCouplingHandler::getCoupledJointName() to avoid naming clashes

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• [plugins][controlboard] Support limits for coupled joints within class BaseCouplingHandler and derived

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• [plugins][controlboard] Implement method GazeboYarpControlBoardDriver::isValidUserDOF

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• [plugins][controlboard] Implement methods GazeboYarpControlBoardDriver::{set, get}UserDOFLimit

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• [plugins][controlboard] Load limits for coupled joints in GazeboYarpControlBoardDriver::gazebo_init

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• [plugins][controlboard] Handle coupled joints in GazeboYarpControlBoardDriver::resetPositionsAndTrajectoryGenerators()

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• [plugins][controlboard] Handle coupled joints in GazeboYarpControlBoardDriver::changeControlMode

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• [plugins][controlboard] Handle coupled joints in GazeboYarpControlBoardDriver::changeInteractionMode

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• [plugins][controlboard] Handle coupled joints in GazeboYarpControlBoardDriver::{set, get}Limits

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• [plugins][controlboard] Handle coupled joints in GazeboYarpControlBoardDriver::positionMove

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• [plugins][controlboard] Change behavior of FingersAbductionCouplingHandler such that abduction is minimum when the associated DoF is commanded to 60.0 and maximum when commanded to 0.0 as on the re…

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Commits on Jul 20, 2020

• Update CHANGELOG.md

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