Provide SetEffortLimit in Joint

[osrf-migration]

Original report (archived issue) by Jesper Smith (Bitbucket: jespersmith).

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I'm working on programmatically setting the effort limit, for example to limit based on a curve. It would be nice to have physics::joint::SetEffortLimit(int _index, double value) implemented in a future version of Gazebo.

Currently, I use the following hack that makes me cry on the inside

#!c++
class EffortSettableJoint : public physics::Joint
	{
	public:
		void SetEffortLimit(int _index, double value)
		{
			if (_index >= 0 && static_cast<unsigned int>(_index) < this->GetAngleCount())
			{
				this->effortLimit[_index] = value;
			}
		}
	};

(boost::static_pointer_cast<EffortSettableJoint>(joint))->SetEffortLimit(0, jointInitial.maximumforce());

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• set assignee_account_id to "557058:5de38267-b118-494c-aa76-4fab35448816"
• set assignee to "scpeters (Bitbucket: scpeters, GitHub: scpeters)"

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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How does 6e0326a look to you? I'm targeting it to gazebo_2.1 because I think we can keep ABI compatibility by adding to the end of the class definition.

[osrf-migration]

Original comment by Jesper Smith (Bitbucket: jespersmith).

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Looks good to me. I don't know about ABI compatibility, we always recompile our stuff anyway.

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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ABI report says compatible as of a75f344. Waiting on pull request #804

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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pull request #808

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed state from "new" to "resolved"

pull request #808

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "resolved" to "closed"