Program Listing for File limits_container.h
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#pragma once
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <math.h>
#include "cartesian_limits_parameters.hpp"
namespace pilz_industrial_motion_planner
{
class LimitsContainer
{
public:
LimitsContainer();
bool hasJointLimits() const;
void setJointLimits(JointLimitsContainer& joint_limits);
const JointLimitsContainer& getJointLimitContainer() const;
void printCartesianLimits() const;
void setCartesianLimits(cartesian_limits::Params& cartesian_limit);
const cartesian_limits::Params& getCartesianLimits() const;
private:
bool has_joint_limits_;
JointLimitsContainer joint_limits_;
bool has_cartesian_limits_;
cartesian_limits::Params cartesian_limits_;
};
} // namespace pilz_industrial_motion_planner