joint_limits_validator.hpp

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#pragma once
 
#include <pilz_industrial_motion_planner/joint_limits_container.hpp>
#include <pilz_industrial_motion_planner/joint_limits_extension.hpp>
 
namespace pilz_industrial_motion_planner
{
class JointLimitsValidator
{
public:
  static bool validateAllPositionLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  static bool validateAllVelocityLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  static bool
  validateAllAccelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);

  static bool
  validateAllDecelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
 
private:
  static bool validateWithEqualFunc(bool (*eq_func)(const JointLimit&, const JointLimit&),
                                    const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
 
  static bool positionEqual(const JointLimit& lhs, const JointLimit& rhs);
 
  static bool velocityEqual(const JointLimit& lhs, const JointLimit& rhs);
 
  static bool accelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
 
  static bool decelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
};

class ValidationException : public std::runtime_error
{
public:
  ValidationException(const std::string& error_desc) : std::runtime_error(error_desc)
  {
  }
};

class ValidationJointMissingException : public ValidationException
{
public:
  ValidationJointMissingException(const std::string& error_desc) : ValidationException(error_desc)
  {
  }
};

class ValidationDifferentLimitsException : public ValidationException
{
public:
  ValidationDifferentLimitsException(const std::string& error_desc) : ValidationException(error_desc)
  {
  }
};

class ValidationBoundsViolationException : public ValidationException
{
public:
  ValidationBoundsViolationException(const std::string& error_desc) : ValidationException(error_desc)
  {
  }
};
 
}  // namespace pilz_industrial_motion_planner