---

LimitsData.h

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//
//      Title           : LimitsData.h
//      Project         : OSCAR
//      Created         : March 6, 2005. 12:13 AM
//      Author          : Chetan Kapoor
//      Platforms       : All
//      Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//
//       Purpose         : Class for loading DH Parameters and related data for a manipulator
//                         specified in XML format
//
//----------------------------------------------------------------------------
//       $Log: LimitsData.h,v $
//       Revision 1.5  2006/03/30 19:15:57  chetan
//       GetAngleUnits added
//
//       Revision 1.4  2005/06/29 04:30:34  chetan
//       Quite a few changes to improve Output of XML and addition of custom root element names, addition of manipulator obstacle model, etc.
//
//       Revision 1.3  2005/03/15 19:15:28  chetan
//       Fixed Documentation
//
//       Revision 1.2  2005/03/14 21:52:30  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.1  2005/03/10 22:43:18  chetan
//       Initial Committ - Still need to test
//
//
//
#ifndef LimitsData_h
#define LimitsData_h

#include "FileData/DHData.h"
#include "FileData/XMLData.h"
#include <vector>


namespace OSCAR {
    class Limit;
    class Limits;

class LimitsData : public  XMLData
{
  public:
    enum LimitsType {Position, Velocity, Acceleration, Current, Torque};
  
    LimitsData(const String& inputFileName, OSCARError &err = DUMMY_ERROR(noError), const String& rootElementName = String("Limits"), const String name = String(" "));

   LimitsData(const char* xmlDataString, OSCARError &err = DUMMY_ERROR(noError), const String& rootElementName = String("Limits"), const String name = String(" "));


  LimitsData(const DOMElement* limitsElement, OSCARError &err = DUMMY_ERROR(noError),  const String& rootElementName = String("Limits"), const String name = String(" "));

        LimitsData(const LimitsData& rhs);

        virtual ~LimitsData();

        LimitsData& operator=(const LimitsData& rhs);

        const Limits* GetLimits(LimitsType limitsType) const;

  bool  SetLimits(const Limits& limits, LimitsType limitsType);

  AngleUnits GetAngleUnits() const;
  void  SetAngleUnits(AngleUnits angUnits);


  bool  Output(std::ostream& out, bool nameSpaceHeader = false) const;

  protected:
    AngleUnits  angleUnits;
    Limits  *pos, *vel, *acc, *curr, *torque;

   virtual bool parseParameters(const DOMElement* rootNode);
   bool LimitsData::parseLimits(DOMElement* limitsTypeNode, std::vector<Limit>& limitsData);
};

}
#endif  // LimitsData_h

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