change_joint_acceleration_limits_command.h

Go to the documentation of this file.

 
#ifndef TESSERACT_ENVIRONMENT_CHANGE_JOINT_ACCELERATION_LIMITS_COMMAND_H
#define TESSERACT_ENVIRONMENT_CHANGE_JOINT_ACCELERATION_LIMITS_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <string>
#include <unordered_map>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
class ChangeJointAccelerationLimitsCommand : public Command
{
public:
  using Ptr = std::shared_ptr<ChangeJointAccelerationLimitsCommand>;
  using ConstPtr = std::shared_ptr<const ChangeJointAccelerationLimitsCommand>;
 
  ChangeJointAccelerationLimitsCommand();
 
  ChangeJointAccelerationLimitsCommand(std::string joint_name, double limit);
 
  ChangeJointAccelerationLimitsCommand(std::unordered_map<std::string, double> limits);
 
  const std::unordered_map<std::string, double>& getLimits() const;
 
  bool operator==(const ChangeJointAccelerationLimitsCommand& rhs) const;
  bool operator!=(const ChangeJointAccelerationLimitsCommand& rhs) const;
 
private:
  std::unordered_map<std::string, double> limits_;
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_environment
 
BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointAccelerationLimitsCommand)
#endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_ACCELERATION_LIMITS_COMMAND_H