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#pragma once

#include "pilz_industrial_motion_planner/cartesian_limit.h"
#include "pilz_industrial_motion_planner/joint_limits_container.h"
#include <math.h>

namespace pilz_industrial_motion_planner
{
/**
 * @brief This class combines CartesianLimit and JointLimits into on single
 * class.
 */
class LimitsContainer
{
public:
  LimitsContainer();

  /**
   * @brief Return if this LimitsContainer has defined joint limits
   * @return True if container contains joint limits
   */
  bool hasJointLimits() const;

  /**
   * @brief Set joint limits
   * @param joint_limits
   */
  void setJointLimits(JointLimitsContainer& joint_limits);

  /**
   * @brief Obtain the Joint Limits from the container
   * @return the joint limits
   */
  const JointLimitsContainer& getJointLimitContainer() const;

  /**
   * @brief Return if this LimitsContainer has defined cartesian limits
   *
   * @return True if container contains cartesian limits including maximum
   * velocity/acceleration/deceleration
   */
  bool hasFullCartesianLimits() const;

  /**
   * @brief Set cartesian limits
   * @param cartesian_limit
   */
  void setCartesianLimits(CartesianLimit& cartesian_limit);

  /**
   * @brief Return the cartesian limits
   * @return the cartesian limits
   */
  const CartesianLimit& getCartesianLimits() const;

private:
  /// Flag if joint limits where set
  bool has_joint_limits_;

  /// The joint limits
  JointLimitsContainer joint_limits_;

  /// Flag if cartesian limits have been set
  bool has_cartesian_limits_;

  /// The cartesian limits
  CartesianLimit cartesian_limit_;
};

}  // namespace pilz_industrial_motion_planner
