joint_limits.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
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#ifndef JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H
#define JOINT_LIMITS_INTERFACE_JOINT_LIMITS_H

namespace joint_limits_interface
{

struct JointLimits
{
  JointLimits()
    : min_position(0.0),
      max_position(0.0),
      max_velocity(0.0),
      max_acceleration(0.0),
      max_jerk(0.0),
      max_effort(0.0),
      has_position_limits(false),
      has_velocity_limits(false),
      has_acceleration_limits(false),
      has_jerk_limits(false),
      has_effort_limits(false),
      angle_wraparound(false)
  {}

  double min_position;
  double max_position;
  double max_velocity;
  double max_acceleration;
  double max_jerk;
  double max_effort;

  bool   has_position_limits;
  bool   has_velocity_limits;
  bool   has_acceleration_limits;
  bool   has_jerk_limits;
  bool   has_effort_limits;
  bool   angle_wraparound;
};

struct SoftJointLimits
{
  SoftJointLimits()
    : min_position(0.0),
      max_position(0.0),
      k_position(0.0),
      k_velocity(0.0)
  {}

  double min_position;
  double max_position;
  double k_position;
  double k_velocity;
};

}

#endif