made enforcement of joint limits optional

VirtualRobot/Nodes/RobotNode.cpp

@@ -10,7 +10,7 @@
 #include "../XML/BaseIO.h"
 #include <cmath>
 #include <iomanip>
-
+#include <boost/optional/optional_io.hpp>
 #include <algorithm>
 
 #include <Eigen/Core>
@@ -125,6 +125,16 @@ namespace VirtualRobot
 
     }
 
+    bool RobotNode::getEnforceJointLimits() const
+    {
+        return enforceJointLimits;
+    }
+
+    void RobotNode::setEnforceJointLimits(bool value)
+    {
+        enforceJointLimits = value;
+    }
+
     RobotPtr RobotNode::getRobot() const
     {
         RobotPtr result(robot);
@@ -181,15 +191,17 @@ namespace VirtualRobot
         }
         else
         {
-            // non-limitless joint: clamp to borders
-            if (q < jointLimitLo)
+            if(enforceJointLimits)// non-limitless joint: clamp to borders
             {
-                q = jointLimitLo;
-            }
+                if (q < jointLimitLo)
+                {
+                    q = jointLimitLo;
+                }
 
-            if (q > jointLimitHi)
-            {
-                q = jointLimitHi;
+                if (q > jointLimitHi)
+                {
+                    q = jointLimitHi;
+                }
             }
         }
 

VirtualRobot/Nodes/RobotNode.h

@@ -339,7 +339,10 @@ namespace VirtualRobot
         */
         virtual void setJointValueNoUpdate(float q);
 
-        protected:
+        bool getEnforceJointLimits() const;
+        void setEnforceJointLimits(bool value);
+
+    protected:
         /*!
             Queries parent for global pose and updates visualization accordingly
         */
@@ -370,6 +373,7 @@ namespace VirtualRobot
 
         float jointValueOffset;
         float jointLimitLo, jointLimitHi;
+        bool enforceJointLimits = true;
         bool limitless; // whether this joint has limits or not (ignored if nodeType != Joint).
         DHParameter optionalDHParameter;            // When the joint is defined via DH parameters they are stored here
         float maxVelocity;          //! given in m/s