limits_container.hpp

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#pragma once
 
#include <pilz_industrial_motion_planner/joint_limits_container.hpp>
#include <math.h>
 
#include <pilz_industrial_motion_planner/cartesian_limits_parameters.hpp>
 
namespace pilz_industrial_motion_planner
{
class LimitsContainer
{
public:
  LimitsContainer();

  bool hasJointLimits() const;

  void setJointLimits(JointLimitsContainer& joint_limits);

  const JointLimitsContainer& getJointLimitContainer() const;

  void printCartesianLimits() const;

  void setCartesianLimits(cartesian_limits::Params& cartesian_limit);

  const cartesian_limits::Params& getCartesianLimits() const;
 
private:
  bool has_joint_limits_;

  JointLimitsContainer joint_limits_;

  bool has_cartesian_limits_;

  cartesian_limits::Params cartesian_limits_;
};
 
}  // namespace pilz_industrial_motion_planner