joint_limits.h
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of PAL Robotics S.L. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #ifndef JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H
00031 #define JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H
00032 
00033 namespace joint_limits_interface
00034 {
00035 
00036 struct JointLimits
00037 {
00038   JointLimits()
00039     : min_position(0.0),
00040       max_position(0.0),
00041       max_velocity(0.0),
00042       max_acceleration(0.0),
00043       max_jerk(0.0),
00044       max_effort(0.0),
00045       has_position_limits(false),
00046       has_velocity_limits(false),
00047       has_acceleration_limits(false),
00048       has_jerk_limits(false),
00049       has_effort_limits(false),
00050       angle_wraparound(false)
00051   {}
00052 
00053   double min_position;
00054   double max_position;
00055   double max_velocity;
00056   double max_acceleration;
00057   double max_jerk;
00058   double max_effort;
00059 
00060   bool   has_position_limits;
00061   bool   has_velocity_limits;
00062   bool   has_acceleration_limits;
00063   bool   has_jerk_limits;
00064   bool   has_effort_limits;
00065   bool   angle_wraparound;
00066 };
00067 
00068 struct SoftJointLimits
00069 {
00070   SoftJointLimits()
00071     : min_position(0.0),
00072       max_position(0.0),
00073       k_position(0.0),
00074       k_velocity(0.0)
00075   {}
00076 
00077   double min_position;
00078   double max_position;
00079   double k_position;
00080   double k_velocity;
00081 };
00082 
00083 }
00084 
00085 #endif


joint_limits_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Aug 28 2015 12:36:23