joint_limits_container.h

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#pragma once
 
#include <pilz_industrial_motion_planner/joint_limits_extension.h>
 
#include <map>
#include <vector>
#include <string>
 
namespace pilz_industrial_motion_planner
{
class JointLimitsContainer
{
public:
  bool addLimit(const std::string& joint_name, JointLimit joint_limit);
 
  bool hasLimit(const std::string& joint_name) const;
 
  size_t getCount() const;
 
  bool empty() const;
 
  JointLimit getCommonLimit() const;
 
  JointLimit getCommonLimit(const std::vector<std::string>& joint_names) const;
 
  JointLimit getLimit(const std::string& joint_name) const;
 
  std::map<std::string, JointLimit>::const_iterator begin() const;
 
  std::map<std::string, JointLimit>::const_iterator end() const;
 
  bool verifyPositionLimit(const std::string& joint_name, double joint_position) const;
 
  bool verifyVelocityLimit(const std::string& joint_name, double joint_velocity) const;
 
  bool verifyAccelerationLimit(const std::string& joint_name, double joint_acceleration) const;
 
  bool verifyDecelerationLimit(const std::string& joint_name, double joint_acceleration) const;
 
private:
  static void updateCommonLimit(const JointLimit& joint_limit, JointLimit& common_limit);
 
protected:
  std::map<std::string, JointLimit> container_;
};
}  // namespace pilz_industrial_motion_planner