JointLimits.h
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00001 
00060 #ifndef JOINTLIMITS_H
00061 #define JOINTLIMITS_H
00062 
00063 #include <iostream>
00064 #include <map>
00065 #include <vector>
00066 #include <string>
00067 #include <chrono>
00068 #include <unordered_map>
00069 #include <functional>
00070 #include <cstdlib>
00071 
00072 
00073 class JointLimits
00074     {
00075         private:
00076             std::vector<double> MaxVelocities_;
00077             std::vector<double> LowerLimits_;
00078             std::vector<double> UpperLimits_;
00079             std::vector<double> Offsets_;
00080             std::vector<double> HWPositive_;
00081             std::vector<double> HWNegative_;
00082             int DOF_;
00083 
00084         public:
00085 
00086             bool checkPositionLimits(std::vector<double> positions,std::vector<double> velocities);
00087             bool checkVelocityLimits(std::vector<double> velocities);
00088 
00089             bool checkHardwareLimits(std::vector<double> velocities);
00090 
00091             int setMaxVelocities(std::vector<double> max_vel)
00092             {
00093                 if ((int)max_vel.size() == getDOF())
00094                 {
00095                     MaxVelocities_ = max_vel;
00096                     return 0;
00097                 }
00098                 return -1;
00099 
00100             }
00101 
00102             int setLowerLimits(std::vector<double> low_lim)
00103 
00104             {
00105                 if ((int)low_lim.size() == getDOF())
00106                 {
00107                     LowerLimits_ = low_lim;
00108                     return 0;
00109                 }
00110                 return -1;
00111 
00112             }
00113 
00114             int setUpperLimits(std::vector<double> up_lim)
00115             {
00116                 if ((int)up_lim.size() == getDOF())
00117                 {
00118                     UpperLimits_ = up_lim;
00119                     return 0;
00120                 }
00121                 return -1;
00122             }
00123 
00124             int setOffsets(std::vector<double> offs)
00125             {
00126                 if ((int)offs.size() == getDOF())
00127                 {
00128                     Offsets_ = offs;
00129                     return 0;
00130                 }
00131                 return -1;
00132             }
00133 
00134             void setDOF(int dof)
00135             {
00136                 DOF_ = dof;
00137             }
00138 
00139             std::vector<double> getMaxVelocities()
00140             {
00141                 return MaxVelocities_;
00142             }
00143 
00144             std::vector<double> getLowerLimits()
00145             {
00146                 return LowerLimits_;
00147             }
00148 
00149             std::vector<double> getUpperLimits()
00150             {
00151                 return UpperLimits_;
00152             }
00153 
00154             std::vector<double> getOffsets()
00155             {
00156                 return Offsets_;
00157             }
00158 
00159             int getDOF()
00160             {
00161                 return DOF_;
00162             }
00163 
00164 
00165     };
00166 
00167 #endif // JOINTLIMITS


ipa_canopen_ros
Author(s): Tobias Sing, Thiago de Freitas
autogenerated on Mon Oct 6 2014 00:59:31