RosJointLimitConstraintProxy.h
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1 //| This file is a part of the ORCA framework.
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36 
37 #pragma once
38 
40 
41 namespace orca_ros
42 {
43 namespace constraint
44 {
45 
47 {
48 public:
49  RosJointLimitConstraintProxy( const std::string& robot_name,
50  const std::string& controller_name,
51  const std::string& constraint_name);
52 
54  void setLimits(const Eigen::VectorXd& min, const Eigen::VectorXd& max);
55  void getLimits(Eigen::VectorXd& min, Eigen::VectorXd& max);
56 
57  void setMinLimit(const Eigen::VectorXd& min);
58  void setMaxLimit(const Eigen::VectorXd& max);
59 
60  Eigen::VectorXd getMinLimit();
61  Eigen::VectorXd getMaxLimit();
62 
63 private:
64  ros::ServiceClient sc_setMinLimit_;
65  ros::ServiceClient sc_setMaxLimit_;
66  ros::ServiceClient sc_getMinLimit_;
67  ros::ServiceClient sc_getMaxLimit_;
68 };
69 
70 } // namespace constraint
71 } // namespace orca_ros
Definition: RosGenericConstraintProxy.h:46
void setLimits(const Eigen::VectorXd &min, const Eigen::VectorXd &max)
Definition: RosJointLimitConstraintProxy.cc:25
Definition: RosJointLimitConstraintProxy.h:46
void setMaxLimit(const Eigen::VectorXd &max)
Definition: RosJointLimitConstraintProxy.cc:47
virtual ~RosJointLimitConstraintProxy()
Definition: RosJointLimitConstraintProxy.cc:21
Definition: RosCartesianAccelerationPID.h:42
void setMinLimit(const Eigen::VectorXd &min)
Definition: RosJointLimitConstraintProxy.cc:37
Eigen::VectorXd getMinLimit()
Definition: RosJointLimitConstraintProxy.cc:57
void getLimits(Eigen::VectorXd &min, Eigen::VectorXd &max)
Definition: RosJointLimitConstraintProxy.cc:31
RosJointLimitConstraintProxy(const std::string &robot_name, const std::string &controller_name, const std::string &constraint_name)
Definition: RosJointLimitConstraintProxy.cc:5
Eigen::VectorXd getMaxLimit()
Definition: RosJointLimitConstraintProxy.cc:69