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:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * 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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#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};
};
 
}