moveit2
The MoveIt Motion Planning Framework for ROS 2.
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limits_container.h
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34
35#pragma once
36
38#include <math.h>
39
40#include "cartesian_limits_parameters.hpp"
41
43{
49{
50public:
52
57 bool hasJointLimits() const;
58
64
70
74 void printCartesianLimits() const;
75
80 void setCartesianLimits(cartesian_limits::Params& cartesian_limit);
81
86 const cartesian_limits::Params& getCartesianLimits() const;
87
88private:
90 bool has_joint_limits_;
91
93 JointLimitsContainer joint_limits_;
94
96 bool has_cartesian_limits_;
97
99 cartesian_limits::Params cartesian_limits_;
100};
101
102} // namespace pilz_industrial_motion_planner
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.
void printCartesianLimits() const
Prints the cartesian limits set by user. Default values for limits are 0.0.
void setCartesianLimits(cartesian_limits::Params &cartesian_limit)
Set cartesian limits.
void setJointLimits(JointLimitsContainer &joint_limits)
Set joint limits.
const cartesian_limits::Params & getCartesianLimits() const
Return the cartesian limits.
bool hasJointLimits() const
Return if this LimitsContainer has defined joint limits.
const JointLimitsContainer & getJointLimitContainer() const
Obtain the Joint Limits from the container.