00001 00002 // Copyright (C) 2013, PAL Robotics S.L. 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // * Redistributions of source code must retain the above copyright notice, 00007 // this list of conditions and the following disclaimer. 00008 // * Redistributions in binary form must reproduce the above copyright 00009 // notice, this list of conditions and the following disclaimer in the 00010 // documentation and/or other materials provided with the distribution. 00011 // * Neither the name of PAL Robotics S.L. nor the names of its 00012 // contributors may be used to endorse or promote products derived from 00013 // this software without specific prior written permission. 00014 // 00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 // POSSIBILITY OF SUCH DAMAGE. 00027 00029 00030 #ifndef JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H 00031 #define JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H 00032 00033 namespace joint_limits_interface 00034 { 00035 00036 struct JointLimits 00037 { 00038 JointLimits() 00039 : min_position(0.0), 00040 max_position(0.0), 00041 max_velocity(0.0), 00042 max_acceleration(0.0), 00043 max_jerk(0.0), 00044 max_effort(0.0), 00045 has_position_limits(false), 00046 has_velocity_limits(false), 00047 has_acceleration_limits(false), 00048 has_jerk_limits(false), 00049 has_effort_limits(false), 00050 angle_wraparound(false) 00051 {} 00052 00053 double min_position; 00054 double max_position; 00055 double max_velocity; 00056 double max_acceleration; 00057 double max_jerk; 00058 double max_effort; 00059 00060 bool has_position_limits; 00061 bool has_velocity_limits; 00062 bool has_acceleration_limits; 00063 bool has_jerk_limits; 00064 bool has_effort_limits; 00065 bool angle_wraparound; 00066 }; 00067 00068 struct SoftJointLimits 00069 { 00070 SoftJointLimits() 00071 : min_position(0.0), 00072 max_position(0.0), 00073 k_position(0.0), 00074 k_velocity(0.0) 00075 {} 00076 00077 double min_position; 00078 double max_position; 00079 double k_position; 00080 double k_velocity; 00081 }; 00082 00083 } 00084 00085 #endif