joint_params.h

#pragma once
 
 
#include <string>
#include <Eigen/Core>
 
namespace bmpf {
    struct JointParams {
        double maxAcceleration;
        double maxVelocity;
        double maxAngle;
        double minAngle;
        unsigned long jointNum;
 
        JointParams(double maxAcceleration, double maxVelocity, double maxAngle, double minAngle,
                    unsigned long jointNum) :
                maxAcceleration(maxAcceleration), maxVelocity(maxVelocity), maxAngle(maxAngle),
                minAngle(minAngle), jointNum(jointNum) {}
 
        std::string toString() const;
 
        double getRandomAngle() const;
    };
 
}