Tesseract
Motion Planning Environment
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change_joint_velocity_limits_command.h
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1
26#ifndef TESSERACT_ENVIRONMENT_CHANGE_JOINT_VELOCITY_LIMITS_COMMAND_H
27#define TESSERACT_ENVIRONMENT_CHANGE_JOINT_VELOCITY_LIMITS_COMMAND_H
28
31#include <boost/serialization/access.hpp>
32#include <memory>
33#include <unordered_map>
34#include <cassert>
35#include <algorithm>
37
39
41{
43{
44public:
45 using Ptr = std::shared_ptr<ChangeJointVelocityLimitsCommand>;
46 using ConstPtr = std::shared_ptr<const ChangeJointVelocityLimitsCommand>;
47
49
55 ChangeJointVelocityLimitsCommand(std::string joint_name, double limit);
56
61 ChangeJointVelocityLimitsCommand(std::unordered_map<std::string, double> limits);
62
63 const std::unordered_map<std::string, double>& getLimits() const;
64
65 bool operator==(const ChangeJointVelocityLimitsCommand& rhs) const;
66 bool operator!=(const ChangeJointVelocityLimitsCommand& rhs) const;
67
68private:
69 std::unordered_map<std::string, double> limits_;
70
72 template <class Archive>
73 void serialize(Archive& ar, const unsigned int version); // NOLINT
74};
75} // namespace tesseract_environment
76
77#include <boost/serialization/export.hpp>
78#include <boost/serialization/tracking.hpp>
79BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointVelocityLimitsCommand, "ChangeJointVelocityLimitsCommand")
80#endif // TESSERACT_ENVIRONMENT_CHANGE_JOINT_VELOCITY_LIMITS_COMMAND_H
Definition: change_joint_velocity_limits_command.h:43
bool operator!=(const ChangeJointVelocityLimitsCommand &rhs) const
Definition: change_joint_velocity_limits_command.cpp:67
std::shared_ptr< const ChangeJointVelocityLimitsCommand > ConstPtr
Definition: change_joint_velocity_limits_command.h:46
void serialize(Archive &ar, const unsigned int version)
Definition: change_joint_velocity_limits_command.cpp:73
ChangeJointVelocityLimitsCommand()
Definition: change_joint_velocity_limits_command.cpp:43
std::shared_ptr< ChangeJointVelocityLimitsCommand > Ptr
Definition: change_joint_velocity_limits_command.h:45
std::unordered_map< std::string, double > limits_
Definition: change_joint_velocity_limits_command.h:69
bool operator==(const ChangeJointVelocityLimitsCommand &rhs) const
Definition: change_joint_velocity_limits_command.cpp:60
friend class boost::serialization::access
Definition: change_joint_velocity_limits_command.h:71
const std::unordered_map< std::string, double > & getLimits() const
Definition: change_joint_velocity_limits_command.cpp:58
Definition: command.h:76
This contains classes for recording operations applied to the environment for tracking changes....
Common Tesseract Macros.
#define TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
Definition: macros.h:71
Definition: create_convex_hull.cpp:36
Definition: command.h:39
joint_1 limits
Definition: tesseract_scene_graph_joint_unit.cpp:153
joint_1 mimic joint_name
Definition: tesseract_scene_graph_joint_unit.cpp:163