Program Listing for File joint_limits_container.h
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#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