change_joint_position_limits_command.h

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#ifndef TESSERACT_ENVIRONMENT_CHANGE_JOINT_POSITION_LIMITS_COMMAND_H
#define TESSERACT_ENVIRONMENT_CHANGE_JOINT_POSITION_LIMITS_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <memory>
#include <unordered_map>
#include <cassert>
#include <algorithm>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
 
namespace tesseract_environment
{
class ChangeJointPositionLimitsCommand : public Command
{
public:
  using Ptr = std::shared_ptr<ChangeJointPositionLimitsCommand>;
  using ConstPtr = std::shared_ptr<const ChangeJointPositionLimitsCommand>;
 
  ChangeJointPositionLimitsCommand();
 
  ChangeJointPositionLimitsCommand(std::string joint_name, double lower, double upper);
 
  ChangeJointPositionLimitsCommand(std::unordered_map<std::string, std::pair<double, double>> limits);
 
  const std::unordered_map<std::string, std::pair<double, double>>& getLimits() const;
 
  bool operator==(const ChangeJointPositionLimitsCommand& rhs) const;
  bool operator!=(const ChangeJointPositionLimitsCommand& rhs) const;
 
private:
  std::unordered_map<std::string, std::pair<double, double>> limits_;
 
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_environment
 
#include <boost/serialization/export.hpp>
#include <boost/serialization/tracking.hpp>
BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointPositionLimitsCommand, "ChangeJointPositionLimitsCommand")
#endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_POSITION_LIMITS_COMMAND_H