joint_limits.hpp

// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
 
#ifndef JOINT_LIMITS_INTERFACE__JOINT_LIMITS_HPP_
#define JOINT_LIMITS_INTERFACE__JOINT_LIMITS_HPP_
 
namespace joint_limits_interface
{
struct JointLimits
{
  JointLimits()
  : min_position(0.0),
    max_position(0.0),
    max_velocity(0.0),
    max_acceleration(0.0),
    max_jerk(0.0),
    max_effort(0.0),
    has_position_limits(false),
    has_velocity_limits(false),
    has_acceleration_limits(false),
    has_jerk_limits(false),
    has_effort_limits(false),
    angle_wraparound(false)
  {
  }
 
  double min_position;
  double max_position;
  double max_velocity;
  double max_acceleration;
  double max_jerk;
  double max_effort;
 
  bool has_position_limits;
  bool has_velocity_limits;
  bool has_acceleration_limits;
  bool has_jerk_limits;
  bool has_effort_limits;
  bool angle_wraparound;
};
 
struct SoftJointLimits
{
  SoftJointLimits() : min_position(0.0), max_position(0.0), k_position(0.0), k_velocity(0.0) {}
 
  double min_position;
  double max_position;
  double k_position;
  double k_velocity;
};
 
}  // namespace joint_limits_interface
 
#endif  // JOINT_LIMITS_INTERFACE__JOINT_LIMITS_HPP_