moveit2
The MoveIt Motion Planning Framework for ROS 2.
limits_container.h
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34 
35 #pragma once
36 
39 #include <math.h>
40 
42 {
48 {
49 public:
51 
56  bool hasJointLimits() const;
57 
63 
69 
76  bool hasFullCartesianLimits() const;
77 
82  void setCartesianLimits(CartesianLimit& cartesian_limit);
83 
88  const CartesianLimit& getCartesianLimits() const;
89 
90 private:
92  bool has_joint_limits_;
93 
95  JointLimitsContainer joint_limits_;
96 
98  bool has_cartesian_limits_;
99 
101  CartesianLimit cartesian_limit_;
102 };
103 
104 } // namespace pilz_industrial_motion_planner
Set of cartesian limits, has values for velocity, acceleration and deceleration of both the translati...
Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for l...
This class combines CartesianLimit and JointLimits into on single class.
bool hasFullCartesianLimits() const
Return if this LimitsContainer has defined cartesian limits.
void setCartesianLimits(CartesianLimit &cartesian_limit)
Set cartesian limits.
void setJointLimits(JointLimitsContainer &joint_limits)
Set joint limits.
const JointLimitsContainer & getJointLimitContainer() const
Obtain the Joint Limits from the container.
bool hasJointLimits() const
Return if this LimitsContainer has defined joint limits.
const CartesianLimit & getCartesianLimits() const
Return the cartesian limits.