best place/API to add joint limit extraction ?

[doudou]

One reason why libraries use both the kdl_parser and directly the robot model is the representation of the joint limits (which are not represented in KDL).

I was wondering whether there would be interest that I implement an interface to extract both the KDL kinematic chain and joint limits (represents by a base::JointLimits). I was thinking of something along the lines of:

struct KinematicChainModel {
  KDL::Tree tree;
  base::JointLimits limits;
};

and then an API that maps the one already present in kdl_parser.hpp, but that would fill a KinematicChainModel instead of only a KDL::Tree.

Do you think that it would be a good idea ? @maltewi ?