From 017810c30f699b11504ebe50db4be9aa4ac8cc1c Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Thu, 10 Sep 2015 13:43:58 +0200
Subject: [PATCH] Added minPayload, maxPayload and maxVelocity

---
 include/ur_modern_driver/ur_driver.h |  9 ++++++++-
 src/ur_driver.cpp                    | 17 ++++++++++++++---
 src/ur_ros_wrapper.cpp               |  2 +-
 3 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/include/ur_modern_driver/ur_driver.h b/include/ur_modern_driver/ur_driver.h
index 3ecb547..083feaa 100644
--- a/include/ur_modern_driver/ur_driver.h
+++ b/include/ur_modern_driver/ur_driver.h
@@ -21,6 +21,9 @@
 class UrDriver {
 private:
 	double maximum_time_step_;
+	double maximum_velocity_;
+	double minimum_payload_;
+	double maximum_payload_;
 	std::vector<std::string> joint_names_;
 public:
 	UrRealtimeCommunication* rt_interface_;
@@ -47,7 +50,11 @@ public:
 	void setFlag(unsigned int n, bool b);
 	void setDigitalOut(unsigned int n, bool b);
 	void setAnalogOut(unsigned int n, double f);
-	void setPayloaf(double m);
+	void setPayload(double m);
+
+	void setMaxVel(double vel);
+	void setMinPayload(double m);
+	void setMaxPayload(double m);
 
 };
 
diff --git a/src/ur_driver.cpp b/src/ur_driver.cpp
index c4acc46..c04f3ce 100644
--- a/src/ur_driver.cpp
+++ b/src/ur_driver.cpp
@@ -12,10 +12,11 @@
 #include "ur_modern_driver/ur_driver.h"
 
 UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
-		unsigned int safety_count_max) {
+		unsigned int safety_count_max) :
+		maximum_time_step_(0.08), maximum_velocity_(10.0), minimum_payload_(
+				0.0), maximum_payload_(1.0) {
 	rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
 			safety_count_max);
-	maximum_time_step_ = 0.08;
 
 }
 
@@ -142,10 +143,20 @@ void UrDriver::setAnalogOut(unsigned int n, double f) {
 	rt_interface_->addCommandToQueue(buf);
 }
 
-void UrDriver::setPayloaf(double m){
+void UrDriver::setPayload(double m) {
 	char buf[256];
 	sprintf(buf, "sec setOut():\n\tset_payload(%1.3f)\nend\n", m);
 	printf("%s", buf);
 	rt_interface_->addCommandToQueue(buf);
 
 }
+
+void UrDriver::setMaxVel(double vel) {
+	maximum_velocity_ = vel;
+}
+void UrDriver::setMinPayload(double m) {
+	minimum_payload_ = m;
+}
+void UrDriver::setMaxPayload(double m) {
+	maximum_payload_ = m;
+}
diff --git a/src/ur_ros_wrapper.cpp b/src/ur_ros_wrapper.cpp
index 7c6d52d..08d3b5d 100644
--- a/src/ur_ros_wrapper.cpp
+++ b/src/ur_ros_wrapper.cpp
@@ -163,7 +163,7 @@ private:
 
 	bool setPayload(ur_msgs::SetPayloadRequest& req,
 			ur_msgs::SetPayloadResponse& resp) {
-		robot_.setPayloaf(req.payload);
+		robot_.setPayload(req.payload);
 		resp.success = true;
 		return true;
 	}