Enforce acceleration/torque/current limits in torque-controlled commands

[PeterBowman]

Some CMC-controlled commands (i.e. movl and movv) make sure that the resulting velocity (obtained via solver methods) does not exceed certain limits. For instance:

kinematics-dynamics/libraries/YarpPlugins/BasicCartesianControl/RateThreadImpl.cpp

Lines 187 to 195 in c187abd

	for (int i = 0; i < commandQdot.size(); i++)
	{
	if (std::abs(commandQdot[i]) > maxJointVelocity)
	{
	CD_ERROR("diffInvKin too dangerous, STOP!!!\n");
	stopControl();
	return;
	}
	}

Is it feasible to limit the resulting torque in the gcmp and forc commands? How to obtain that in the first place? See roboticslab-uc3m/yarp-devices#187 (comment).

[PeterBowman]

I wonder if the benefits of enforcing such a constraint are worth the effort to develop the full backend. Low accelerations/torques/currents values may still produce significant velocities.

Edit: see #161.

[PeterBowman]

I think the I2t driver protection is the way to go, also a firmware protection is far more reliable than any upstream slow-loop check.