joint_safety.h

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#ifndef INCLUDE_TINYURDF_CORE_JOINT_SAFETY_H_
#define INCLUDE_TINYURDF_CORE_JOINT_SAFETY_H_
 
// Copyright 2025 Wissem CHIHA
 
#include "common/property_base.h"
 
class JointSafety : public PropertyBase
{
 public:
  JointSafety();
  bool isA(const char* name) const override;
  std::string toString() const override;
  void clear() override;
  void setSoftUpperLimit(double value);
  void setSoftLowerLimit(double value);
  void setKPosition(double value);
  void setKVelocity(double value);
 
 private:
  double soft_upper_limit, soft_lower_limit;
  double k_position, k_velocity;
};
#endif  // INCLUDE_TINYURDF_CORE_JOINTSAFETY_H