dynamics_limit.hpp

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#pragma once
 
#include <functional>
#include <memory>
#include <mutex>
#include <sstream>
#include <stdexcept>
#include <string>
 
namespace franky {
 
template <typename LimitType>
class DynamicsLimit {
 public:
  DynamicsLimit(const std::string& desc, const LimitType& max_val, const LimitType& default_val,
                const std::shared_ptr<std::mutex>& write_mutex, const std::function<bool()>& can_write_condition)
      : max(max_val),
        desc(desc),
        write_mutex_(write_mutex),
        value_(default_val),
        can_write_condition_(can_write_condition) {}
  DynamicsLimit(const std::string& desc, const LimitType& max_val, const LimitType& default_val, {…}
 
  template <typename AlternativeType>
  void setFrom(const AlternativeType& value);
 
  void set(const LimitType& value) {
    std::unique_lock lock(*write_mutex_);
    if (!can_write_condition_()) {
      std::stringstream ss;
      ss << "Cannot set " << desc << " limit while robot is in control.";
      throw std::runtime_error(ss.str());
    }
    check(value);
    value_ = value;
  }
  void set(const LimitType& value) {…}
 
  [[nodiscard]] LimitType get() const { return value_; }
 
  const LimitType max;
 
  const std::string desc;
 
  template <typename LimitTypeStream>
  friend std::ostream& operator<<(std::ostream& os, const DynamicsLimit<LimitTypeStream>& dynamics_limit);
 
 private:
  void check(const LimitType& value) const;
 
  std::shared_ptr<std::mutex> write_mutex_; 
  LimitType value_; 
  std::function<bool()> can_write_condition_; 
};
 
template <typename LimitTypeStream>
std::ostream& operator<<(std::ostream& os, const DynamicsLimit<LimitTypeStream>& dynamics_limit) {
  os << dynamics_limit.value_ << " (max: " << dynamics_limit.max << ")";
  return os;
}
std::ostream& operator<<(std::ostream& os, const DynamicsLimit<LimitTypeStream>& dynamics_limit) {…};
  friend std::ostream& operator<<(std::ostream& os, const DynamicsLimit<LimitTypeStream>& dynamics_limit); {…};
 
}  // namespace franky
class DynamicsLimit {…};