joint_limits_extension.h

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#pragma once
 
#include <limits>
 
#include <joint_limits_copy/joint_limits.hpp>
 
#include <map>
#include <string>
 
namespace pilz_industrial_motion_planner
{
namespace joint_limits_interface
{
struct JointLimits : joint_limits::JointLimits
{
  JointLimits() : max_deceleration(0.0), has_deceleration_limits(false)
  {
  }
 
  double max_deceleration;
 
  bool has_deceleration_limits;
};
}  // namespace joint_limits_interface
 
typedef joint_limits_interface::JointLimits JointLimit;
typedef std::map<std::string, JointLimit> JointLimitsMap;
}  // namespace pilz_industrial_motion_planner