Program Listing for File joint_limits_validator.h
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#pragma once
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
namespace pilz_industrial_motion_planner
{
class JointLimitsValidator
{
public:
static bool validateAllPositionLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
static bool validateAllVelocityLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
static bool
validateAllAccelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
static bool
validateAllDecelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
private:
static bool validateWithEqualFunc(bool (*eq_func)(const JointLimit&, const JointLimit&),
const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
static bool positionEqual(const JointLimit& lhs, const JointLimit& rhs);
static bool velocityEqual(const JointLimit& lhs, const JointLimit& rhs);
static bool accelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
static bool decelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
};
class ValidationException : public std::runtime_error
{
public:
ValidationException(const std::string& error_desc) : std::runtime_error(error_desc)
{
}
};
class ValidationJointMissingException : public ValidationException
{
public:
ValidationJointMissingException(const std::string& error_desc) : ValidationException(error_desc)
{
}
};
class ValidationDifferentLimitsException : public ValidationException
{
public:
ValidationDifferentLimitsException(const std::string& error_desc) : ValidationException(error_desc)
{
}
};
class ValidationBoundsViolationException : public ValidationException
{
public:
ValidationBoundsViolationException(const std::string& error_desc) : ValidationException(error_desc)
{
}
};
} // namespace pilz_industrial_motion_planner