joint_limits_aggregator.h

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#pragma once
 
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/robot_model/joint_model.h>
 
#include <map>
 
namespace pilz_industrial_motion_planner
{
class JointLimitsAggregator
{
public:
  static JointLimitsContainer getAggregatedLimits(const rclcpp::Node::SharedPtr& node,
                                                  const std::string& param_namespace,
                                                  const std::vector<const moveit::core::JointModel*>& joint_models);
 
protected:
  static void updatePositionLimitFromJointModel(const moveit::core::JointModel* joint_model, JointLimit& joint_limit);
 
  static void updateVelocityLimitFromJointModel(const moveit::core::JointModel* joint_model, JointLimit& joint_limit);
 
  static void checkPositionBoundsThrowing(const moveit::core::JointModel* joint_model, const JointLimit& joint_limit);
 
  static void checkVelocityBoundsThrowing(const moveit::core::JointModel* joint_model, const JointLimit& joint_limit);
};
 
class AggregationException : public std::runtime_error
{
public:
  AggregationException(const std::string& error_desc) : std::runtime_error(error_desc)
  {
  }
};
 
class AggregationBoundsViolationException : public AggregationException
{
public:
  AggregationBoundsViolationException(const std::string& error_desc) : AggregationException(error_desc)
  {
  }
};
 
}  // namespace pilz_industrial_motion_planner