joint_limits.h

Go to the documentation of this file.

#ifndef INCLUDE_TINYURDF_CORE_JOINT_LIMITS_H
#define INCLUDE_TINYURDF_CORE_JOINT_LIMITS_H
 
// Copyright 2024-2025 Wissem CHIHA
 
#include "common/property_base.h"
 
class JointLimits : public PropertyBase
{
 public:
  JointLimits();
  bool isA(const char* name) const override;
  std::string toString() const override;
  void clear() override;
  void setEffort(double effort_);
  void setVelocity(double vel_);
 
 private:
  double lower, upper, effort, velocity;
};
#endif  // INCLUDE_TINYURDF_CORE_JOINT_LIMITS_H_