[squash] update APIs related to joint forces

robotology · Mar 26, 2020 · 7709620 · 7709620
1 parent cb04422
commit 7709620
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Showing 5 changed files with 197 additions and 154 deletions.
diff --git a/cpp/scenario/gazebo/include/scenario/gazebo/Joint.h b/cpp/scenario/gazebo/include/scenario/gazebo/Joint.h
@@ -100,28 +100,28 @@ class scenario::gazebo::Joint
 
     double controllerPeriod() const;
 
-    double maxEffort() const;
-    bool setMaxEffort(const double maxEffort);
-
     base::PID pid() const;
     bool setPID(const base::PID& pid);
 
     // ==================
     // Single DOF methods
     // ==================
 
-    double force(const size_t dof = 0) const;
+    double maxGeneralizedForce(const size_t dof = 0) const;
+    bool setMaxGeneralizedForce(const double maxForce, const size_t dof = 0);
+
     double position(const size_t dof = 0) const;
     double velocity(const size_t dof = 0) const;
 
-    bool setForce(const double force, const size_t dof = 0);
     bool setPositionTarget(const double position, const size_t dof = 0);
     bool setVelocityTarget(const double velocity, const size_t dof = 0);
     bool setAccelerationTarget(const double acceleration, const size_t dof = 0);
+    bool setGeneralizedForceTarget(const double force, const size_t dof = 0);
 
     double positionTarget(const size_t dof = 0) const;
     double velocityTarget(const size_t dof = 0) const;
     double accelerationTarget(const size_t dof = 0) const;
+    double generalizedForceTarget(const size_t dof = 0) const;
 
     bool resetPosition(const double position, const size_t dof = 0);
     bool resetVelocity(const double velocity, const size_t dof = 0);
@@ -133,18 +133,20 @@ class scenario::gazebo::Joint
     // Multi DOF methods
     // =================
 
-    std::vector<double> jointForce() const;
+    std::vector<double> jointMaxGeneralizedForce() const;
+    bool setJointMaxGeneralizedForce(const std::vector<double>& maxForce);
     std::vector<double> jointPosition() const;
     std::vector<double> jointVelocity() const;
 
-    bool setJointForce(const std::vector<double>& force);
     bool setJointPositionTarget(const std::vector<double>& position);
     bool setJointVelocityTarget(const std::vector<double>& velocity);
     bool setJointAccelerationTarget(const std::vector<double>& acceleration);
+    bool setJointGeneralizedForceTarget(const std::vector<double>& force);
 
     std::vector<double> jointPositionTarget() const;
     std::vector<double> jointVelocityTarget() const;
     std::vector<double> jointAccelerationTarget() const;
+    std::vector<double> jointGeneralizedForceTarget() const;
 
     bool resetJointPosition(const std::vector<double>& position);
     bool resetJointVelocity(const std::vector<double>& velocity);

diff --git a/cpp/scenario/gazebo/include/scenario/gazebo/Model.h b/cpp/scenario/gazebo/include/scenario/gazebo/Model.h
@@ -122,8 +122,6 @@ class scenario::gazebo::Model
     // Vectorized Methods
     // ==================
 
-    std::vector<double> jointForces( //
-        const std::vector<std::string>& jointNames = {}) const;
     std::vector<double> jointPositions( //
         const std::vector<std::string>& jointNames = {}) const;
     std::vector<double> jointVelocities( //
@@ -141,9 +139,6 @@ class scenario::gazebo::Model
     // Vectorized Target Methods
     // =========================
 
-    bool setJointForces( //
-        const std::vector<double> forces,
-        const std::vector<std::string>& jointNames = {});
     bool setJointPositionTargets( //
         const std::vector<double> positions,
         const std::vector<std::string>& jointNames = {});
@@ -153,6 +148,9 @@ class scenario::gazebo::Model
     bool setJointAccelerationTargets( //
         const std::vector<double> velocities,
         const std::vector<std::string>& jointNames = {});
+    bool setJointGeneralizedForceTargets( //
+        const std::vector<double> forces,
+        const std::vector<std::string>& jointNames = {});
 
     bool resetJointPositions( //
         const std::vector<double> positions,
@@ -167,6 +165,8 @@ class scenario::gazebo::Model
         const std::vector<std::string>& jointNames = {}) const;
     std::vector<double> jointAccelerationTargets( //
         const std::vector<std::string>& jointNames = {}) const;
+    std::vector<double> jointGeneralizedForceTargets( //
+        const std::vector<std::string>& jointNames = {}) const;
 
     // =========
     // Base Link

diff --git a/...ario/gazebo/components/JointEffortLimit.h → ...cenario/gazebo/components/MaxJointForce.h b/...ario/gazebo/components/JointEffortLimit.h → ...cenario/gazebo/components/MaxJointForce.h