Program Listing for File joint_limits.hpp
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// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef JOINT_LIMITS__JOINT_LIMITS_HPP_
#define JOINT_LIMITS__JOINT_LIMITS_HPP_
#include <limits>
#include <sstream>
#include <string>
namespace joint_limits
{
struct JointLimits
{
JointLimits()
: min_position(std::numeric_limits<double>::quiet_NaN()),
max_position(std::numeric_limits<double>::quiet_NaN()),
max_velocity(std::numeric_limits<double>::quiet_NaN()),
max_acceleration(std::numeric_limits<double>::quiet_NaN()),
max_jerk(std::numeric_limits<double>::quiet_NaN()),
max_effort(std::numeric_limits<double>::quiet_NaN()),
has_position_limits(false),
has_velocity_limits(false),
has_acceleration_limits(false),
has_jerk_limits(false),
has_effort_limits(false),
angle_wraparound(false)
{
}
double min_position;
double max_position;
double max_velocity;
double max_acceleration;
double max_jerk;
double max_effort;
bool has_position_limits;
bool has_velocity_limits;
bool has_acceleration_limits;
bool has_jerk_limits;
bool has_effort_limits;
bool angle_wraparound;
std::string to_string()
{
std::stringstream ss_output;
ss_output << " has position limits: " << (has_position_limits ? "true" : "false") << " ["
<< min_position << ", " << max_position << "]\n";
ss_output << " has velocity limits: " << (has_velocity_limits ? "true" : "false") << " ["
<< max_velocity << "]\n";
ss_output << " has acceleration limits: " << (has_acceleration_limits ? "true" : "false")
<< " [" << max_acceleration << "]\n";
ss_output << " has jerk limits: " << (has_jerk_limits ? "true" : "false") << " [" << max_jerk
<< "]\n";
ss_output << " has effort limits: " << (has_effort_limits ? "true" : "false") << " ["
<< max_effort << "]\n";
ss_output << " angle wraparound: " << (angle_wraparound ? "true" : "false");
return ss_output.str();
}
};
struct SoftJointLimits
{
SoftJointLimits()
: min_position(std::numeric_limits<double>::quiet_NaN()),
max_position(std::numeric_limits<double>::quiet_NaN()),
k_position(std::numeric_limits<double>::quiet_NaN()),
k_velocity(std::numeric_limits<double>::quiet_NaN())
{
}
double min_position;
double max_position;
double k_position;
double k_velocity;
std::string to_string()
{
std::stringstream ss_output;
ss_output << " soft position limits: " << "[" << min_position << ", " << max_position << "]\n";
ss_output << " k-position: " << "[" << k_position << "]\n";
ss_output << " k-velocity: " << "[" << k_velocity << "]\n";
return ss_output.str();
}
};
} // namespace joint_limits
#endif // JOINT_LIMITS__JOINT_LIMITS_HPP_