JointLimits.hpp

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#ifndef WBC_JOINT_LIMITS_HPP
#define WBC_JOINT_LIMITS_HPP
 
#include <Eigen/Core>
 
namespace wbc { namespace types {
 
class Limits{
public:
    void clear(){
        position.resize(0);
        velocity.resize(0);
        acceleration.resize(0);
        effort.resize(0);
    }
    void resize(uint n){
        position.resize(n);
        velocity.resize(n);
        acceleration.resize(n);
        effort.resize(n);
    }
    Eigen::VectorXd position;
    Eigen::VectorXd velocity;
    Eigen::VectorXd acceleration;
    Eigen::VectorXd effort;
 
};
 
class JointLimits{
public:
 
    void clear(){
        min.clear();
        max.clear();
    }
 
    void resize(uint n){
        min.resize(n);
        max.resize(n);
    }
 
    Limits min;
    Limits max;
};
 
}
}
 
#endif