joint-bound-validation.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
// This file is part of hpp-core
// hpp-core is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-core is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-core  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CORE_JOINT_BOUND_VALIDATION_HH
# define HPP_CORE_JOINT_BOUND_VALIDATION_HH

# include <hpp/pinocchio/joint.hh>
# include <hpp/core/config-validation.hh>

namespace hpp {
  namespace core {

    class HPP_CORE_DLLAPI JointBoundValidationReport : public ValidationReport
    {
    public:
      JointBoundValidationReport (const JointConstPtr_t& joint, size_type rank,
                  value_type lowerBound, value_type upperBound,
                  value_type value) :
    ValidationReport (),
    joint_ (joint), rank_ (rank), lowerBound_ (lowerBound),
    upperBound_ (upperBound), value_ (value) 
    {
    }
      virtual std::ostream& print (std::ostream& os) const
      {
        if (joint_) {
          os << "Joint " << joint_->name () << ", rank: " << rank_
            << ", value out of range: " << value_ << " not in ["
            << lowerBound_ << ", " << upperBound_ << "]";
        } else {
          os << "Extra config space at rank: " << rank_
             << ", value out of range: " << value_ << " not in ["
             << lowerBound_ << ", " << upperBound_ << "]";
        }
    return os;
      }

      JointConstPtr_t joint_;
      size_type rank_;
      value_type lowerBound_;
      value_type upperBound_;
      value_type value_;
    };

    class HPP_CORE_DLLAPI JointBoundValidation : public ConfigValidation
    {
    public:
      static JointBoundValidationPtr_t create (const DevicePtr_t& robot);

      bool validate (const Configuration_t& config,
             ValidationReportPtr_t& validationReport);
    protected:
      JointBoundValidation (const DevicePtr_t& robot);
    private:
      DevicePtr_t robot_;
    }; // class ConfigValidation
  } // namespace core
} // namespace hpp

#endif // HPP_CORE_JOINT_BOUND_VALIDATION_HH