JointLimits.h

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#ifndef JOINTLIMITS_H
#define JOINTLIMITS_H

#include <iostream>
#include <map>
#include <vector>
#include <string>
#include <chrono>
#include <unordered_map>
#include <functional>
#include <cstdlib>


class JointLimits
    {
        private:
            std::vector<double> MaxVelocities_;
            std::vector<double> LowerLimits_;
            std::vector<double> UpperLimits_;
            std::vector<double> Offsets_;
            std::vector<double> HWPositive_;
            std::vector<double> HWNegative_;
            int DOF_;

        public:

            bool checkPositionLimits(std::vector<double> positions,std::vector<double> velocities);
            bool checkVelocityLimits(std::vector<double> velocities);

            bool checkHardwareLimits(std::vector<double> velocities);

            int setMaxVelocities(std::vector<double> max_vel)
            {
                if ((int)max_vel.size() == getDOF())
                {
                    MaxVelocities_ = max_vel;
                    return 0;
                }
                return -1;

            }

            int setLowerLimits(std::vector<double> low_lim)

            {
                if ((int)low_lim.size() == getDOF())
                {
                    LowerLimits_ = low_lim;
                    return 0;
                }
                return -1;

            }

            int setUpperLimits(std::vector<double> up_lim)
            {
                if ((int)up_lim.size() == getDOF())
                {
                    UpperLimits_ = up_lim;
                    return 0;
                }
                return -1;
            }

            int setOffsets(std::vector<double> offs)
            {
                if ((int)offs.size() == getDOF())
                {
                    Offsets_ = offs;
                    return 0;
                }
                return -1;
            }

            void setDOF(int dof)
            {
                DOF_ = dof;
            }

            std::vector<double> getMaxVelocities()
            {
                return MaxVelocities_;
            }

            std::vector<double> getLowerLimits()
            {
                return LowerLimits_;
            }

            std::vector<double> getUpperLimits()
            {
                return UpperLimits_;
            }

            std::vector<double> getOffsets()
            {
                return Offsets_;
            }

            int getDOF()
            {
                return DOF_;
            }


    };

#endif // JOINTLIMITS