.. _program_listing_file_include_pilz_industrial_motion_planner_joint_limits_container.h:

Program Listing for File joint_limits_container.h
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_pilz_industrial_motion_planner_joint_limits_container.h>` (``include/pilz_industrial_motion_planner/joint_limits_container.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2018 Pilz GmbH & Co. KG
    *  All rights reserved.
    *
    *  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 Pilz GmbH & Co. KG 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 CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    *********************************************************************/
   
   #pragma once
   
   #include <pilz_industrial_motion_planner/joint_limits_extension.h>
   
   #include <map>
   #include <vector>
   #include <string>
   
   namespace pilz_industrial_motion_planner
   {
   class JointLimitsContainer
   {
   public:
     bool addLimit(const std::string& joint_name, JointLimit joint_limit);
   
     bool hasLimit(const std::string& joint_name) const;
   
     size_t getCount() const;
   
     bool empty() const;
   
     JointLimit getCommonLimit() const;
   
     JointLimit getCommonLimit(const std::vector<std::string>& joint_names) const;
   
     JointLimit getLimit(const std::string& joint_name) const;
   
     std::map<std::string, JointLimit>::const_iterator begin() const;
   
     std::map<std::string, JointLimit>::const_iterator end() const;
   
     bool verifyPositionLimit(const std::string& joint_name, double joint_position) const;
   
     bool verifyVelocityLimit(const std::string& joint_name, double joint_velocity) const;
   
     bool verifyAccelerationLimit(const std::string& joint_name, double joint_acceleration) const;
   
     bool verifyDecelerationLimit(const std::string& joint_name, double joint_acceleration) const;
   
   private:
     static void updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit);
   
   protected:
     std::map<std::string, JointLimit> container_;
   };
   }  // namespace pilz_industrial_motion_planner