cartesian_limit.h

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#pragma once
 
namespace pilz_industrial_motion_planner
{
class CartesianLimit
{
public:
  CartesianLimit();
 
  // Translational Velocity Limit
 
  bool hasMaxTranslationalVelocity() const;
 
  void setMaxTranslationalVelocity(double max_trans_vel);
 
  double getMaxTranslationalVelocity() const;
 
  // Translational Acceleration Limit
 
  bool hasMaxTranslationalAcceleration() const;
 
  void setMaxTranslationalAcceleration(double max_trans_acc);
 
  double getMaxTranslationalAcceleration() const;
 
  // Translational Deceleration Limit
 
  bool hasMaxTranslationalDeceleration() const;
 
  void setMaxTranslationalDeceleration(double max_trans_dec);
 
  double getMaxTranslationalDeceleration() const;
 
  // Rotational Velocity Limit
 
  bool hasMaxRotationalVelocity() const;
 
  void setMaxRotationalVelocity(double max_rot_vel);
 
  double getMaxRotationalVelocity() const;
 
private:
  bool has_max_trans_vel_;
 
  double max_trans_vel_;
 
  bool has_max_trans_acc_;
 
  double max_trans_acc_;
 
  bool has_max_trans_dec_;
 
  double max_trans_dec_;
 
  bool has_max_rot_vel_;
 
  double max_rot_vel_;
};
 
}  // namespace pilz_industrial_motion_planner