validate_jtc_parameters.hpp

// Copyright (c) 2022 ros2_control Development Team
//
// 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_TRAJECTORY_CONTROLLER__VALIDATE_JTC_PARAMETERS_HPP_
#define JOINT_TRAJECTORY_CONTROLLER__VALIDATE_JTC_PARAMETERS_HPP_
 
#include <string>
#include <vector>
 
#include "rclcpp/parameter.hpp"
#include "rsl/algorithm.hpp"
#include "tl_expected/expected.hpp"
 
namespace joint_trajectory_controller
{
 
tl::expected<void, std::string> command_interface_type_combinations(
  rclcpp::Parameter const & parameter);
 
tl::expected<void, std::string> state_interface_type_combinations(
  rclcpp::Parameter const & parameter);
 
}  // namespace joint_trajectory_controller
 
#endif  // JOINT_TRAJECTORY_CONTROLLER__VALIDATE_JTC_PARAMETERS_HPP_