trajectory_timing_constraint.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Southwest Research Institute
 *
 * 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.
 */
/*
 * trajectory_pt_transition.h
 *
 *  Created on: March 7, 2015
 *      Author: Jonathan Meyer
 */

#ifndef TRAJECTORY_TIMING_CONSTRAINT_H
#define TRAJECTORY_TIMING_CONSTRAINT_H

#include <ros/console.h>

namespace descartes_core
{
  struct TimingConstraint
  {
    TimingConstraint()
      : lower(0.0)
      , upper(0.0)
    {}

    explicit TimingConstraint(double nominal)
      : lower(nominal)
      , upper(nominal)
    {
      if (nominal < 0.0)
      {
        ROS_WARN_STREAM("Nominal time value must be greater than or equal to 0.0");
        lower = 0.0;
        upper = 0.0;
      }
    }

    TimingConstraint(double lower, double upper)
      : lower(lower)
      , upper(upper)
    {
      if (lower < 0.0)
      {
        ROS_WARN_STREAM("Lower time value must be greater than or equal to 0.0");
        lower = 0.0;
      }

      if (upper < 0.0)
      {
        ROS_WARN_STREAM("Upper time value must be greater than or equal to 0.0");
        upper = 0.0;
      }
    }

    bool isSpecified() const { return upper > 0.0; }

    double lower, upper;
  };

} // end namespace descartes core

#endif /* TRAJECTORY_TIMING_CONSTRAINT_H */