joint_limits.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
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#pragma once


namespace joint_limits_interface
{

struct JointLimits
{
  double min_position     = {0.0};
  double max_position     = {0.0};
  double max_velocity     = {0.0};
  double max_acceleration = {0.0};
  double max_jerk         = {0.0};
  double max_effort       = {0.0};

  bool   has_position_limits     = {false};
  bool   has_velocity_limits     = {false};
  bool   has_acceleration_limits = {false};
  bool   has_jerk_limits         = {false};
  bool   has_effort_limits       = {false};
  bool   angle_wraparound        = {false};
};

struct SoftJointLimits
{
  double min_position = {0.0};
  double max_position = {0.0};
  double k_position   = {0.0};
  double k_velocity   = {0.0};
};

}