Added components to dynamically set joint limits

CMakeLists.txt

@@ -96,7 +96,7 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics2 VERSION 2.3
+ign_find_package(ignition-physics2 VERSION 2.5
   COMPONENTS
     mesh
     sdf

include/ignition/gazebo/components/JointEffortLimitsCmd.hh

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_COMPONENTS_JOINTEFFORTLIMITSCMD_HH_
+#define IGNITION_GAZEBO_COMPONENTS_JOINTEFFORTLIMITSCMD_HH_
+
+#include <vector>
+#include <ignition/math/Vector2.hh>
+
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+
+namespace components
+{
+
+/// \brief Command for setting effort limits of a joint. Data are a vector
+/// with a Vector2 for each DOF. The X() component of the Vector2 specifies
+/// the minimum effort limit, the Y() component stands for maximum limit.
+/// Set to +-infinity to disable the limits.
+/// \note It is expected that the physics plugin reads this component and
+/// sets the limit to the dynamics engine. After setting it, the data of this
+/// component will be cleared (i.e. the vector will have length zero).
+using JointEffortLimitsCmd = Component<
+  std::vector<ignition::math::Vector2d>,
+  class JointEffortLimitsCmdTag,
+  serializers::VectorSerializer<ignition::math::Vector2d>
+>;
+
+IGN_GAZEBO_REGISTER_COMPONENT(
+  "ign_gazebo_components.JointEffortLimitsCmd", JointEffortLimitsCmd)
+}
+
+}
+}
+}
+
+#endif

include/ignition/gazebo/components/JointPositionLimitsCmd.hh

@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_COMPONENTS_JOINTPOSITIONLIMITSCMD_HH_
+#define IGNITION_GAZEBO_COMPONENTS_JOINTPOSITIONLIMITSCMD_HH_
+
+#include <vector>
+#include <ignition/math/Vector2.hh>
+
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+
+namespace components
+{
+/// \brief Command for setting position limits of a joint. Data are a vector
+/// with a Vector2 for each DOF. The X() component of the Vector2 specifies
+/// the minimum positional limit, the Y() component stands for maximum limit.
+/// Set to +-infinity to disable the limits.
+/// \note It is expected that the physics plugin reads this component and
+/// sets the limit to the dynamics engine. After setting it, the data of this
+/// component will be cleared (i.e. the vector will have length zero).
+using JointPositionLimitsCmd = Component<
+  std::vector<ignition::math::Vector2d>,
+  class JointPositionLimitsCmdTag,
+  serializers::VectorSerializer<ignition::math::Vector2d>
+>;
+
+IGN_GAZEBO_REGISTER_COMPONENT(
+    "ign_gazebo_components.JointPositionLimitsCmd", JointPositionLimitsCmd)
+}
+}
+}
+}
+
+#endif

include/ignition/gazebo/components/JointVelocityLimitsCmd.hh

@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_COMPONENTS_JOINTVELOCITYLIMITSCMD_HH_
+#define IGNITION_GAZEBO_COMPONENTS_JOINTVELOCITYLIMITSCMD_HH_
+
+#include <vector>
+#include <ignition/math/Vector2.hh>
+
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+
+namespace components
+{
+/// \brief Command for setting velocity limits of a joint. Data are a vector
+/// with a Vector2 for each DOF. The X() component of the Vector2 specifies
+/// the minimum velocity limit, the Y() component stands for maximum limit.
+/// Set to +-infinity to disable the limits.
+/// \note It is expected that the physics plugin reads this component and
+/// sets the limit to the dynamics engine. After setting it, the data of this
+/// component will be cleared (i.e. the vector will have length zero).
+using JointVelocityLimitsCmd = Component<
+  std::vector<ignition::math::Vector2d>,
+  class JointVelocityLimitsCmdTag,
+  serializers::VectorSerializer<ignition::math::Vector2d>
+>;
+
+IGN_GAZEBO_REGISTER_COMPONENT(
+  "ign_gazebo_components.JointVelocityLimitsCmd", JointVelocityLimitsCmd)
+}
+}
+}
+}
+
+#endif

include/ignition/gazebo/components/Serialization.hh

@@ -183,6 +183,40 @@ namespace serializers
       return _in;
     }
   };
+
+  template <typename T>
+  class VectorSerializer
+  {
+    /// \brief Serialization for `std::vector<T>` with serializable T.
+    /// \param[in] _out Output stream.
+    /// \param[in] _data The data to stream.
+    /// \return The stream.
+    public: static std::ostream &Serialize(std::ostream &_out,
+      const std::vector<T> &_data)
+    {
+      _out << _data.size();
+      for (const auto& datum : _data)
+        _out << " " << datum;
+      return _out;
+    }
+
+    /// \brief Deserialization for `std::vector<T>` with serializable T.
+    /// \param[in] _in Input stream.
+    /// \param[out] _data The data to populate.
+    /// \return The stream.
+    public: static std::istream &Deserialize(std::istream &_in,
+      std::vector<T> &_data)
+    {
+      size_t size;
+      _in >> size;
+      _data.resize(size);
+      for (size_t i = 0; i < size; ++i)
+      {
+        _in >> _data[i];
+      }
+      return _in;
+    }
+  };
 }
 }
 }