JointLimitsVelocityConstraint.hpp

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#ifndef WBC_CORE_JOINT_LIMIT_VELOCITY_CONSTRAINT_HPP
#define WBC_CORE_JOINT_LIMIT_VELOCITY_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
#include "../types/JointLimits.hpp"
#include <memory>
 
namespace wbc{

class JointLimitsVelocityConstraint : public Constraint {
public:

    JointLimitsVelocityConstraint() : Constraint(Constraint::bounds) { }
 
    JointLimitsVelocityConstraint(double dt);
 
    virtual ~JointLimitsVelocityConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
protected:

    double dt;
    types::JointLimits joint_limits;
 
};
typedef std::shared_ptr<JointLimitsVelocityConstraint> JointLimitsVelocityConstraintPtr;
 
} // namespace wbc
#endif // WBC_CORE_JOINT_LIMIT_VELOCITY_CONSTRAINT_HPP