Removed pseudo-code

joint_limits/src/simple_joint_limiter.cpp

@@ -30,65 +30,6 @@ bool SimpleJointLimiter<JointLimits>::on_enforce(
   trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
   trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states, const rclcpp::Duration & dt)
 {
-  /*
-  Now a factorized version
-
-    if has_pos_cmd
-      compute expected_vel with pos_cmd and pos_state
-
-    if has_pos_limit
-      if has_pos_cmd
-        clamp pos_cmd
-
-      else
-        //nothing to do yet
-
-    if has_vel_limit
-      if has_pos_cmd // priority of pos_cmd
-        vel_cmd = expected_vel
-
-      if vel_cmd over limit
-        clamp vel_cmd
-          if clamped pos_cmd = integrate vel_cmd
-
-    if has_acc_limit
-      if has_vel_state
-        if has_vel_cmd
-          compute expected_acc2 with limited vel_cmd and vel_state
-        if has_pos_cmd
-          compute expected_acc with expected_vel and vel_state
-      else
-        or
-        we cannot compute the acc, we cannot derive acc from zero velocity this would be wrong
-        break
-
-      if has_pos_cmd
-        if expected_acc over limit
-          clamp expected_acc
-          integrate expected_vel to be compatible with limited expected_acc as well
-          integrate pos_cmd to be compatible with newly limited expected_vel and limited
-  expected_acc as well
-
-      if has_vel_cmd
-        if expected_acc2 over limit
-          clamp expected_acc2
-          integrate vel_cmd to be compatible with limited expected_acc2 as well
-
-    if has_pos_limit
-      if has_vel_cmd
-        compute expected_pos by integrating vel_cmd // check for next step
-        if expected_pos over limit
-          consider braking and compute ideal vel_cmd that would permit to slow down in time at full
-  deceleration in any case limit pos to max and recompute vel_cmd that would lead to pos_max (not
-  ideal as velocity would not be zero)
-
-      des_vel = vel_cmd or expected_vel
-      check if expected_pos might be reached at max braking // check for future steps
-        recompute vel_cmd or pos_cmd or both
-
-
-  */
-
   const auto dt_seconds = dt.seconds();
   // negative or null is not allowed
   if (dt_seconds <= 0.0) return false;