bool parseJointLimits(JointLimits &jl, TiXmlElement* config)
{
jl.clear();
// Get lower joint limit
const char* lower_str = config->Attribute("lower");
if (lower_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no lower, defaults to 0");
jl.lower = 0;
}
else
{
try
{
jl.lower = boost::lexical_cast<double>(lower_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("lower value (%s) is not a float: %s", lower_str, e.what());
return false;
}
}
// Get upper joint limit
const char* upper_str = config->Attribute("upper");
if (upper_str == NULL){
CONSOLE_BRIDGE_logDebug("urdfdom.joint_limit: no upper, , defaults to 0");
jl.upper = 0;
}
else
{
try
{
jl.upper = boost::lexical_cast<double>(upper_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("upper value (%s) is not a float: %s",upper_str, e.what());
return false;
}
}
// Get joint effort limit
const char* effort_str = config->Attribute("effort");
if (effort_str == NULL){
CONSOLE_BRIDGE_logError("joint limit: no effort");
return false;
}
else
{
try
{
jl.effort = boost::lexical_cast<double>(effort_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("effort value (%s) is not a float: %s",effort_str, e.what());
return false;
}
}
// Get joint velocity limit
const char* velocity_str = config->Attribute("velocity");
if (velocity_str == NULL){
CONSOLE_BRIDGE_logError("joint limit: no velocity");
return false;
}
else
{
try
{
jl.velocity = boost::lexical_cast<double>(velocity_str);
}
catch (boost::bad_lexical_cast &e)
{
CONSOLE_BRIDGE_logError("velocity value (%s) is not a float: %s",velocity_str, e.what());
return false;
}
}
return true;
}
