ros-controls/ros_control — pull request #124 by jim-rothrock (2013-10-20 03:58:53+00:00)
Title: Added the PositionJointSaturationInterface and VelocitySoftLimitsInterface classes.

Added the PositionJointSaturationInterface and VelocitySoftLimitsInterface classes. There are now saturation and soft limit classes for effort-controlled, position-controlled, and velocity-controlled joints.