limits_container.cpp

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#include <pilz_industrial_motion_planner/limits_container.h>
#include <rclcpp/logger.hpp>
#include <moveit/utils/logger.hpp>
 
namespace pilz_industrial_motion_planner
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.planners.pilz.limits_container");
}
}  // namespace
 
LimitsContainer::LimitsContainer() : has_joint_limits_(false), has_cartesian_limits_(false)
{
}
 
bool LimitsContainer::hasJointLimits() const
{
  return has_joint_limits_;
}
 
void LimitsContainer::setJointLimits(JointLimitsContainer& joint_limits)
{
  has_joint_limits_ = true;
  joint_limits_ = joint_limits;
}
 
const JointLimitsContainer& LimitsContainer::getJointLimitContainer() const
{
  return joint_limits_;
}
 
void LimitsContainer::printCartesianLimits() const
{
  RCLCPP_DEBUG(getLogger(),
               "Pilz Cartesian Limits - Max Trans Vel : %f, Max Trans Acc : %f, Max Trans Dec : %f, Max Rot Vel : %f",
               cartesian_limits_.max_trans_vel, cartesian_limits_.max_trans_acc, cartesian_limits_.max_trans_dec,
               cartesian_limits_.max_rot_vel);
}
 
void LimitsContainer::setCartesianLimits(cartesian_limits::Params& cartesian_limits)
{
  has_cartesian_limits_ = true;
  cartesian_limits_ = cartesian_limits;
}
 
const cartesian_limits::Params& LimitsContainer::getCartesianLimits() const
{
  return cartesian_limits_;
}
 
}  // namespace pilz_industrial_motion_planner