Forgotten commit, added init_beep to ThermoLimiter
Separate isTempError check from limitTemperature and rename calcMaxTorqueFromTemperature, added calcEmergencyRatio which calculate current/max ratio and execute limit check, added callBeep which call beep and tune frequency by maxEmergencyRatio
Added current/max value to debug message
Added input buffer size check before calcEmergencyRate
Added isDebug method which is alternative of DEBUGP
Debugged initialization problem in motorTemperatureLimit and Modified beep function to beep stepwisely
Removed tauIn and qCurrentIn in ThermoLimiter, which is not used for tauMax calculation now.
Replace DEBUGP to isDebug function in ThermoEstimator
Added emergency beep (notification of current load > max load) to ThermoLimiter
Added alarmRatio to config property, which defines current/max ratio threshold in temperature alarm
Separated estimateJointTemperature process to member function
Added error2torque conversion to ThermoEstimator and make servoState pass when calculated temperature is invalid.
Debugged read port miss in inports and modified debug message position
Fixed default tauMax from model. climit -> climit*gearRatio*torqueConst
Added member valiable to represent torque control mode
Comment TwoDofControllerInterface functions
Added getParameters method to controller classes
Moved motor_model_type to MotorTorqueController and implemented updateControllerParam to MotorController
Added setTorqueControllerParam service to update torque controller parameters
Pass t_param as reference in setTorqueControllerParam