limits_container.h

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#pragma once
 
#include <pilz_industrial_motion_planner/cartesian_limit.h>
#include <pilz_industrial_motion_planner/joint_limits_container.h>
#include <math.h>
 
namespace pilz_industrial_motion_planner
{
class LimitsContainer
{
public:
  LimitsContainer();
 
  bool hasJointLimits() const;
 
  void setJointLimits(JointLimitsContainer& joint_limits);
 
  const JointLimitsContainer& getJointLimitContainer() const;
 
  bool hasFullCartesianLimits() const;
 
  void setCartesianLimits(CartesianLimit& cartesian_limit);
 
  const CartesianLimit& getCartesianLimits() const;
 
private:
  bool has_joint_limits_;
 
  JointLimitsContainer joint_limits_;
 
  bool has_cartesian_limits_;
 
  CartesianLimit cartesian_limit_;
};
 
}  // namespace pilz_industrial_motion_planner