JointLimitRange.hpp

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#ifndef BASE_JOINT_LIMIT_RANGE_HPP
#define BASE_JOINT_LIMIT_RANGE_HPP

#include <base/JointState.hpp>

namespace base
{

struct JointLimitRange
{
    JointState min;
    JointState max;

    struct OutOfBounds : public std::runtime_error
    {
        static std::string errorString( std::string name, double min, double max, double value );
        
        std::string name;
        double min, max, value;
        OutOfBounds()
            : std::runtime_error( std::string() ), min(0), max(0), value(0) {}
        OutOfBounds( std::string name, double min, double max, double value )
            : std::runtime_error( errorString( name, min, max, value ) )
            , name( name )
            , min( min ), max( max ), value( value )
        {
        }
        ~OutOfBounds() throw() {}
    };

    void validate( const JointState &state ) const;

    bool isValid( const JointState &state ) const;

    static JointLimitRange Position(double min, double max);
        
    static JointLimitRange Speed(double min, double max);

    static JointLimitRange Effort(double min, double max);

    static JointLimitRange Raw(double min, double max);

    static JointLimitRange Acceleration(double min, double max);
    

private:
    std::pair<bool, OutOfBounds> verifyValidity( const JointState& state ) const;
  
};

}

#endif