Enhance JointSaturationLimiter with Jerk limits - #3417

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sachinkum0009:feat/jtc-jerk-limits

Commits on Jun 22, 2026

Refactor JointSaturationLimiter to use cached vectors for desired and expected states
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Commits on Jun 23, 2026

Add clamp_joint_limits and handle_braking_near_position_limit methods to JointSaturationLimiter
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Refactor clamp_joint_limits method to improve readability and structure by reorganizing conditional checks for desired position, velocity, and acceleration
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Commits on Jun 24, 2026

Commits on Jun 26, 2026

Commits on Jun 27, 2026

test added for pos and acc when jerk exceeds
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Commits on Jun 29, 2026

Commits on Jul 1, 2026

Refine joint saturation velocity clamping
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Commits on Jul 4, 2026

Commits on Jul 6, 2026

Add safety checks for joint position and velocity limits
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Commits on Jul 7, 2026

Merge branch 'master' into feat/jtc-jerk-limits
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Commits on Jul 13, 2026

Merge branch 'master' into feat/jtc-jerk-limits
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Commits on Jul 17, 2026

Merge branch 'master' into feat/jtc-jerk-limits
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Commits on Jul 19, 2026

Clamp for final position added when handle brake
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Commits on Jul 20, 2026

Merge branch 'master' into feat/jtc-jerk-limits
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Commits on Jul 23, 2026

Merge branch 'master' into feat/jtc-jerk-limits
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Commits on Jul 25, 2026

todo added
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